Sp2019_EW202_3321_1
gradient
Dependencies: mbed TCS3472_I2C Tach ContinuousServo
Revision 0:46d75bfc2492, committed 2019-04-27
- Comitter:
- m215910
- Date:
- Sat Apr 27 00:47:12 2019 +0000
- Commit message:
- gradient
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ContinuousServo.lib Sat Apr 27 00:47:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jdonnal/code/ContinuousServo/#d6371727ce0c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TCS3472_I2C.lib Sat Apr 27 00:47:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/karlmaxwell67/code/TCS3472_I2C/#6d5bb4ad7d6e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Tach.lib Sat Apr 27 00:47:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jdonnal/code/Tach/#c165325c9e3f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Apr 27 00:47:12 2019 +0000
@@ -0,0 +1,123 @@
+//Satre Gagnon, Ewing, Batten
+//Drive Straight
+
+#include "mbed.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+#include "TCS3472_I2C.h"
+
+// color sensor
+DigitalOut hallpwr(p22); //PWM out signal to power LED on the sensor
+DigitalIn hall(p21);
+TCS3472_I2C rgb_sensor(p9, p10); // Establish RGB sensor object
+Serial pc(USBTX,USBRX); //Establish serial connection
+int rgb_data[4]; //store sensor readings
+
+//lights for colors
+DigitalOut red(LED1);
+DigitalOut green(LED2);
+DigitalOut blue(LED3);
+DigitalOut lightmag(LED4);
+
+//speed
+float wL, wR;
+float x = 0.3, y = -0.3, dist, realdist;
+
+ContinuousServo left(p23);
+ContinuousServo right(p26);
+
+//encoders
+Tach tLeft(p17,64);
+Tach tRight(p13,64);
+
+int main()
+{
+ rgb_sensor.enablePowerAndRGBC(); //Enable RGB sensor
+ rgb_sensor.setIntegrationTime(100); //Set integration time of sensor
+
+ wL = tLeft.getSpeed(); //speed of left wheel (rev/sec)
+ wR = tRight.getSpeed(); //speed of right wheel (rev/sec)
+
+ pc.baud(9600); //set baud rate
+ float PWMbrightness = 1.0; //float specifying brightness of LED (between 0.0 and 1.0)
+
+ while(1) {
+
+ left.speed(x);
+ right.speed(y); //right negative to go forward
+
+ hallpwr = PWMbrightness; //set brightness of sensor LED
+ rgb_sensor.getAllColors(rgb_data);
+
+ if ((rgb_data[0] > 10000))
+ {
+ blue = 0;
+ green = 0;
+ red = 0;
+ }
+
+ else if ((rgb_data[1] > rgb_data[2]) && (rgb_data[1] > rgb_data[3]) )
+ {
+ red = 1;
+ green = 0;
+ blue = 0;
+ }
+ else if ((rgb_data[2] > rgb_data[1]) && (rgb_data[2] > rgb_data[3]) )
+ {
+ if(rgb_data[2] > 1100)
+ {
+ green = 1;
+ red = 0;
+ blue = 0;
+ }
+ else
+ {
+ green = 0;
+ red = 0;
+ blue = 0;
+ }
+ }
+
+ else if ((rgb_data[3] > rgb_data[2]) && (rgb_data[3] > rgb_data[1]) )
+ {
+ blue = 1;
+ green = 0;
+ red = 0;
+ }
+ if (hall == 1){
+ lightmag = 1;
+ printf("BOMB DETECTED");
+ }
+ else if (hall == 0){
+ lightmag = 0;
+ }
+ if (wL<wR) {
+ x = x+0.01;
+ y = y; }
+ else if (wR<wL) {
+ x = x-0.01;
+ y = y;}
+ else if (wR == wL) {
+ x = x;
+ y = y;
+ }
+ if (realdist <= 8) {
+ left.stop();
+ right.stop();
+ }
+ if ((rgb_data[0] > 9000))
+ {
+ x = x;
+ y = 0;
+ }
+ if ((rgb_data[0] < 800))
+ {
+ x = x;
+ y = 0;
+ }
+
+
+ printf("unfiltered: %d, red: %d, green: %d, blue: %d \n", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]);
+
+} //while
+} //main
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Apr 27 00:47:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file