Diff: main.cpp

Revision:

7:b0ba8a7b6e9f

Parent:

6:bd2fa888c101

--- a/main.cpp	Fri Mar 24 14:13:53 2017 +0000
+++ b/main.cpp	Wed Apr 05 08:36:05 2017 +0000
@@ -40,9 +40,15 @@
 
 /* mbed specific header files. */
 #include "mbed.h"
+#include "color.h"
+#include "hcsr04.h"
+#include "BDCMotor.h"
 
 /* Component specific header files. */
 #include "STSpin240_250.h"
+HCSR04 sensor1(D10, D11);
+
+ColorSensor color(D4, D5, D6, D7, D8);
 
 /* Variables -----------------------------------------------------------------*/
 
@@ -111,7 +117,6 @@
 
 int main()
 {
-  uint8_t demoStep = 0;
   
   /* Printing to the console. */
   printf("STARTING MAIN PROGRAM\r\n");
@@ -155,126 +160,49 @@
   
   /* Infinite Loop. */
   printf("--> Infinite Loop...\r\n");
+  bool fase = 1;
   while (true) {
-    switch (demoStep) {
-        case 0: {
-          printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n");
-          /* Set speed of motor 0 to 100 % */
-          motor->set_speed(0,100); 
-          /* start motor 0 to run forward*/
-          /* if chip is in standby mode */
-          /* it is automatically awakened */
-          motor->run(0, BDCMotor::FWD);
-          break;
-        }
-        case 1: {
-          printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n");
-          /* Set speed of motor 0 to 75 % */
-          motor->set_speed(0,75); 
-          /* Set speed of motor 1 to 100 % */
-          motor->set_speed(1,100); 
-          /* start motor 1 to run backward */
-          motor->run(1, BDCMotor::BWD);
-          break;
-        }
-        case 2: {
-          printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n");
-          /* Set speed of motor 0 to 50 % */
-          motor->set_speed(0,50);   
-         /* Set speed of motor 1 to 75% */
-          motor->set_speed(1,75); 
-          break;
-        }     
-        case 3: {
-          printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n");
-          /* Set speed of motor 0 to 25 % */
-          motor->set_speed(0,25);  
-          /* Set speed of motor 1 to 50% */
-          motor->set_speed(1,50);          
-          break;
-        } 
-        case 4: {
-          printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n");
-          /* Stop Motor 0 */
-          motor->hard_stop(0);   
-          /* Set speed of motor 1 to 25% */
-          motor->set_speed(1,25);      
-          break;
-        }        
-        case 5: {
-          printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n");
-          /* Set speed of motor 0 to 25 % */
-          motor->set_speed(0,25); 
-          /* start motor 0 to run backward */
-          motor->run(0, BDCMotor::BWD);
-          /* Stop Motor 1 */
-          motor->hard_stop(1);   
-          break;
-        }
-        case 6: {
-          printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n");
-          /* Set speed of motor 0 to 50 % */
+    motor->run(0, BDCMotor::FWD);
+    motor->run(1, BDCMotor::FWD);    
+    motor->set_speed(1,49); 
+    motor->set_speed(0,50);    
+    sensor1.start();    
+    if (sensor1.get_dist_cm() < 10){
+        fase = !fase;
+      if (fase == 0){              
+        wait_ms(2500);        
+          motor->set_speed(1,15); 
+          motor->set_speed(0,50);         
+        wait_ms(500);         
+          motor->set_speed(1,49); 
           motor->set_speed(0,50); 
-          /* Set speed of motor 1 to 25 % */
-          motor->set_speed(1,25); 
-          /* start motor 1 to run backward */
-          motor->run(1, BDCMotor::FWD);
-          break;
-        }
-        case 7: {
-          printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n");
-          /* Set speed of motor 0 to 75 % */
-          motor->set_speed(0,75);   
-          /* Set speed of motor 1 to 50 % */
-          motor->set_speed(1,50);             
-          break;
-        }
-        case 8: {
-          printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n");
-          /* Set speed of motor 0 to 100 % */
-          motor->set_speed(0,100);   
-          /* Set speed of motor 1 to 75 % */
-          motor->set_speed(1,75);   
-          break;
-        } 
-        case 9: {
-          printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
-          /* Set speed of motor 1 to 100 % */
-          motor->set_speed(1,100);    
-          break;
-        }  
-        case 10: {
-          printf("STEP 10\r\n: Stop both motors and disable bridges\r\n");
-          /* Stop both motors and disable bridge */
-          motor->hard_hiz(0);    
-          motor->hard_hiz(1);    
-          break;
-        }         
-        case 11: {
-          printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
-          /* Start both motors to go forward*/
-          motor->run(0,BDCMotor::FWD);    
-          motor->run(1,BDCMotor::FWD);    
-          break;
-        }               
-        case 12:
-        default: {
-          printf("STEP 12: Stop both motors and enter standby mode\r\n");
-          /* Stop both motors and put chip in standby mode */
-          motor->reset();    
-          break;
-        }
-    }
-  
-    /* Wait for 5 seconds */  
-    wait_ms(5000);
-    
-    /* Increment demostep*/  
-    demoStep++;
-    if (demoStep > 12) {
-      demoStep = 0;
-    }
-  } 
+      }
+      else
+      {              
+          wait_ms(2500);        
+          motor->set_speed(1,50); 
+          motor->set_speed(0,15);         
+          wait_ms(500);         
+          motor->set_speed(1,49); 
+          motor->set_speed(0,50); 
+      }
+   }
+   
+   if(color.getRed()>100&&color.getGreen()>100)
+   {
+        //se vede il giallo allora fa questo
+   }    
+   if(color.getRed()>130&&color.getGreen()>130&&color.getBlue()>130){
+       //se vede il bianco allora fa questo
+       unsigned int motorino=
+   }
+   if(color.getRed()>110){
+       //se vede il rosso
+       motor->hard_stop(0);
+       motor->hard_stop(1);
+       wait(2);
+   }
+  }
 }
 
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/*********** (C) COPYRIGHT STMicroelectronics ********** END OF FILE **********/