Revision 0:b30091b30223, committed 2016-03-26

Comitter:

z_g13

Date:

Sat Mar 26 23:30:29 2016 +0000

Commit message:

3/26/2016 - ZG;

Changed in this revision

diff -r 000000000000 -r b30091b30223 ColorSensor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ColorSensor.cpp	Sat Mar 26 23:30:29 2016 +0000
@@ -0,0 +1,162 @@
+#include "ColorSensor.h"
+#include "mbed.h"
+ 
+//sda and scl are for your i2c pins
+ColorSensor::ColorSensor(PinName sda, PinName scl) : i2c(sda, scl), gain(4), scale(1)
+{
+    //power on device and ADCs
+    i2c.write(ADDR, CTRL, 1);
+    i2c.write(ADDR, CTRL_INIT, 1);
+    
+    //intial gain is 4x, scale is 1x
+    i2c.write(ADDR, GAIN, 1);
+    i2c.write(ADDR, GAIN_INIT, 1);
+}
+ 
+//returns red value
+int ColorSensor::getR()
+{
+    int red;
+    char data;
+    
+    i2c.write(ADDR, RED_LO, 1);
+    i2c.read(ADDR, &data, 1);
+    red = data;
+    i2c.write(ADDR, RED_HI, 1);
+    i2c.read(ADDR, &data, 1);
+    red += 256*data;
+    
+    return red;
+}
+ 
+//returns green value
+int ColorSensor::getG()
+{
+    int grn;
+    char data;
+    
+    i2c.write(ADDR, GRN_LO, 1);
+    i2c.read(ADDR, &data, 1);
+    grn = data;
+    i2c.write(ADDR, GRN_HI, 1);
+    i2c.read(ADDR, &data, 1);
+    grn += 256*data;
+    
+    return grn;
+}
+ 
+//returns blue value
+int ColorSensor::getB()
+{
+    int blu;
+    char data;
+    
+    i2c.write(ADDR, BLU_LO, 1);
+    i2c.read(ADDR, &data, 1);
+    blu = data;
+    i2c.write(ADDR, BLU_HI, 1);
+    i2c.read(ADDR, &data, 1);
+    blu += 256*data;
+    
+    return blu;
+}
+ 
+//returns clear value
+int ColorSensor::getC()
+{
+    int clr;
+    char data;
+    
+    i2c.write(ADDR, CLR_LO, 1);
+    i2c.read(ADDR, &data, 1);
+    clr = data;
+    i2c.write(ADDR, CLR_HI, 1);
+    i2c.read(ADDR, &data, 1);
+    clr += 256*data;
+    
+    return clr;
+}
+ 
+//sets ADC gain
+//valid values 1, 4, 16, 64
+void ColorSensor::setGain(int g)
+{       
+    char newGain;
+    
+    switch(g)
+    {
+        case 1: newGain = 0x00;
+            break;
+        case 4: newGain = 0x10;
+            break;
+        case 16: newGain = 0x20;
+            break;
+        case 64: newGain = 0x30;
+            break;
+        default: return;
+    }
+    
+    gain = g;
+    
+    switch(scale)
+    {
+        case 1: newGain += 0x00;
+            break;
+        case 2: newGain += 0x01;
+            break;
+        case 4: newGain += 0x02;
+            break;
+        case 8: newGain += 0x03;
+            break;
+        case 16: newGain += 0x04;
+            break;
+        case 32: newGain += 0x05;
+            break;
+        case 64: newGain += 0x06;
+    }
+    
+    i2c.write(ADDR, GAIN, 1);
+    i2c.write(ADDR, &newGain, 1);
+}
+ 
+//sets divides ADC sensitivity by scaler
+//valid values 1, 2, 4, 8, 16, 32, 64
+void ColorSensor::setScaler(int s)
+{
+    char newGain;
+    
+    switch(s)
+    {
+        case 1: newGain = 0x00;
+            break;
+        case 2: newGain = 0x01;
+            break;
+        case 4: newGain = 0x02;
+            break;
+        case 8: newGain = 0x03;
+            break;
+        case 16: newGain = 0x04;
+            break;
+        case 32: newGain = 0x05;
+            break;
+        case 64: newGain = 0x06;
+            break;
+        default: return;
+    }
+    
+    scale = s;
+    
+    switch(gain)
+    {
+        case 1: newGain += 0x00;
+            break;
+        case 4: newGain += 0x10;
+            break;
+        case 16: newGain += 0x20;
+            break;
+        case 64: newGain += 0x30;
+    }
+    
+    i2c.write(ADDR, GAIN, 1);
+    i2c.write(ADDR, &newGain, 1);
+}
\ No newline at end of file

diff -r 000000000000 -r b30091b30223 ColorSensor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ColorSensor.h	Sat Mar 26 23:30:29 2016 +0000
@@ -0,0 +1,49 @@
+#ifndef COLORSENSOR_H
+#define COLORSENSOR_H
+ 
+#include "mbed.h"
+ 
+//constants for i2c register communication
+const int ADDR = 0x72;
+const char CTRL_VAL = 0x80;
+const char* const CTRL = &CTRL_VAL;
+const char CTRL_INIT_VAL = 0x03;
+const char* const CTRL_INIT = &CTRL_INIT_VAL;
+const char GAIN_VAL = 0x87;
+const char* const GAIN = &GAIN_VAL;
+const char GAIN_INIT_VAL = 0x10;
+const char* const GAIN_INIT = &GAIN_INIT_VAL;
+const char RED_LO_VAL = 0x92;
+const char* const RED_LO = &RED_LO_VAL;    
+const char RED_HI_VAL = 0x93;
+const char* const RED_HI = &RED_HI_VAL;    
+const char GRN_LO_VAL = 0x90;
+const char* const GRN_LO = &GRN_LO_VAL;    
+const char GRN_HI_VAL = 0x91;
+const char* const GRN_HI = &GRN_HI_VAL;    
+const char BLU_LO_VAL = 0x94;
+const char* const BLU_LO = &BLU_LO_VAL;    
+const char BLU_HI_VAL = 0x95;
+const char* const BLU_HI = &BLU_HI_VAL;    
+const char CLR_LO_VAL = 0x96;
+const char* const CLR_LO = &CLR_LO_VAL;    
+const char CLR_HI_VAL = 0x97;
+const char* const CLR_HI = &CLR_HI_VAL;
+ 
+class ColorSensor
+{
+    public:
+    ColorSensor(PinName sda, PinName scl);
+    int getR();
+    int getG();
+    int getB();
+    int getC();
+    void setGain(int g);
+    void setScaler(int s);
+    
+    private:
+    I2C i2c;
+    int gain;
+    int scale;
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r b30091b30223 driver.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver.cpp	Sat Mar 26 23:30:29 2016 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+#include "gripper.h"
+#include "ColorSensor.h"
+
+Serial vcom(USBTX, USBRX);
+
+float frequency = 50.0f;
+float duty_cycle = 0.50f;
+float period = ( 1.0f / frequency );
+
+int main()
+{
+    vcom.baud(115200);
+    
+    vcom.printf("Hello World!");
+    
+    Gripper gripper(PTB0, PTB1);
+    ColorSensor colorSensor(PTC2, PTC1);
+    
+    /*
+    gripper.grip();
+    wait(1.0);
+    gripper.lift();
+    wait(1.0);
+    gripper.lower();
+    wait(1.0);
+    gripper.release();
+    wait(1.0);
+    */
+    
+    
+    
+    colorSensor.getR();
+    vcom.printf("%i", colorSensor.getR());
+    wait(0.5);
+    
+}
\ No newline at end of file

diff -r 000000000000 -r b30091b30223 gripper.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gripper.cpp	Sat Mar 26 23:30:29 2016 +0000
@@ -0,0 +1,18 @@
+#include "gripper.h"
+#include "mbed.h"
+ 
+Gripper::Gripper(PinName gripPin, PinName wristPin) : gripPwm(gripPin), wristPwm(wristPin)
+{
+    gripPwm.period_us(PWM_PER);
+    wristPwm.period_us(PWM_PER);
+    gripPwm.pulsewidth_us(GRIP_DEF);
+    wristPwm.pulsewidth_us(WRIST_DEF);
+}
+ 
+void Gripper::grip() { gripPwm.pulsewidth_us(GRIP_CLOSE); }
+ 
+void Gripper::release() { gripPwm.pulsewidth_us(GRIP_OPEN); }
+ 
+void Gripper::lift() { wristPwm.pulsewidth_us(WRIST_UP); }
+ 
+void Gripper::lower() { wristPwm.pulsewidth_us(WRIST_DOWN); }
\ No newline at end of file

diff -r 000000000000 -r b30091b30223 gripper.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gripper.h	Sat Mar 26 23:30:29 2016 +0000
@@ -0,0 +1,33 @@
+#ifndef GRIPPER_H
+#define GRIPPER_H
+ 
+#include "mbed.h"
+ 
+//definitions for servo PWM settings in us
+#define GRIP_DEF 1500
+#define GRIP_OPEN 1700
+#define GRIP_CLOSE 1120
+#define WRIST_DEF 1500
+#define WRIST_UP 2000
+#define WRIST_DOWN 1500
+#define PWM_PER 20000
+ 
+class Gripper
+{
+    public:
+    //gripPin is pwm pin connected to gripper servo, wristPin is pwm pin connected to wrist servo
+    Gripper(PinName gripPin, PinName wristPin);
+    //closes gripper to fit target
+    void grip();
+    //fully opens gripper
+    void release();
+    //raises wrist to target angle
+    void lift();
+    //lowers wrist to grabbing angle
+    void lower();
+    
+    private:
+    PwmOut gripPwm;
+    PwmOut wristPwm;
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r b30091b30223 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Mar 26 23:30:29 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/c0f6e94411f5
\ No newline at end of file