Zolovick_Larrea_Mouaffek / Mbed 2 deprecated ES202_Final_ColorSensor

not sure on the if statement at the bottom

Dependencies:   ContinuousServo TCS3472_I2C Tach mbed

Fork of ES202_Final_ColorSensor by Thomas Larrea

color.cpp@2:b5a85ba07057, 2018-04-30 (annotated)

Committer:
PlayaLarrea
Date:
Mon Apr 30 15:38:53 2018 +0000
Revision:
2:b5a85ba07057
Parent:
1:1dd468e2ad40 
gay

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PlayaLarrea 0:7d319151aaa0 1 #include "mbed.h"
PlayaLarrea 0:7d319151aaa0 2 #include "ContinuousServo.h"
PlayaLarrea 0:7d319151aaa0 3 #include "Tach.h"
PlayaLarrea 0:7d319151aaa0 4 #include "TCS3472_I2C.h"
PlayaLarrea 0:7d319151aaa0 5
PlayaLarrea 2:b5a85ba07057 6 //InterruptIn hall_sensor(p21);
PlayaLarrea 2:b5a85ba07057 7 DigitalOut hallpwr(p22);
PlayaLarrea 2:b5a85ba07057 8 DigitalIn hall(p21);
PlayaLarrea 0:7d319151aaa0 9 BusOut flash(LED1, LED2, LED3, LED4);
PlayaLarrea 0:7d319151aaa0 10 TCS3472_I2C rgb_sensor(p9, p10);
PlayaLarrea 0:7d319151aaa0 11 ContinuousServo left(p23); //Set up left wheel driver
PlayaLarrea 0:7d319151aaa0 12 ContinuousServo right(p26); //Set up right wheel driver
PlayaLarrea 0:7d319151aaa0 13
PlayaLarrea 1:1dd468e2ad40 14 int rgb_data[4];
PlayaLarrea 1:1dd468e2ad40 15 float PWMbrightness = 1.0;
PlayaLarrea 1:1dd468e2ad40 16 float LB = 0.0;
PlayaLarrea 2:b5a85ba07057 17 int x = 0.0;
PlayaLarrea 0:7d319151aaa0 18
PlayaLarrea 2:b5a85ba07057 19 //void mine() {
PlayaLarrea 2:b5a85ba07057 20 // flash = 8.0;
PlayaLarrea 2:b5a85ba07057 21 // wait(1.0);
PlayaLarrea 2:b5a85ba07057 22 // flash = 0;
PlayaLarrea 2:b5a85ba07057 23 //}
PlayaLarrea 0:7d319151aaa0 24
PlayaLarrea 0:7d319151aaa0 25 int main() {
PlayaLarrea 0:7d319151aaa0 26
PlayaLarrea 2:b5a85ba07057 27 hall.mode(PullUp);
PlayaLarrea 2:b5a85ba07057 28 // hall_sensor.rise(&mine);
PlayaLarrea 2:b5a85ba07057 29 // hall_sensor.fall(&mine);
PlayaLarrea 2:b5a85ba07057 30 hallpwr = 1;
PlayaLarrea 0:7d319151aaa0 31
PlayaLarrea 1:1dd468e2ad40 32 rgb_sensor.enablePowerAndRGBC();
PlayaLarrea 1:1dd468e2ad40 33 rgb_sensor.setIntegrationTime(100);
PlayaLarrea 1:1dd468e2ad40 34
PlayaLarrea 0:7d319151aaa0 35 while(1) { // wait around, interrupts will interrupt this!
PlayaLarrea 2:b5a85ba07057 36
PlayaLarrea 2:b5a85ba07057 37 x = hall.read();
PlayaLarrea 2:b5a85ba07057 38
PlayaLarrea 2:b5a85ba07057 39 if(x == 1){
PlayaLarrea 2:b5a85ba07057 40 flash = 8.0;
PlayaLarrea 2:b5a85ba07057 41 }
PlayaLarrea 2:b5a85ba07057 42 else{
PlayaLarrea 2:b5a85ba07057 43 flash = 0.0;
PlayaLarrea 2:b5a85ba07057 44 }
PlayaLarrea 2:b5a85ba07057 45 x = hall.read();
PlayaLarrea 2:b5a85ba07057 46
PlayaLarrea 2:b5a85ba07057 47 left.speed(0.1); //Move the left wheel
PlayaLarrea 2:b5a85ba07057 48 right.speed(-0.1); //Move the right wheel
PlayaLarrea 0:7d319151aaa0 49
PlayaLarrea 1:1dd468e2ad40 50 LB = PWMbrightness;
PlayaLarrea 1:1dd468e2ad40 51 rgb_sensor.getAllColors(rgb_data);
PlayaLarrea 2:b5a85ba07057 52
PlayaLarrea 2:b5a85ba07057 53 //if(rgb_data[1]>650){
PlayaLarrea 2:b5a85ba07057 54 if(rgb_data[0]>1000 && rgb_data[1]>650 && rgb_data[2]<300 && rgb_data[3]<300){
PlayaLarrea 2:b5a85ba07057 55 flash = 1.0; //red
PlayaLarrea 0:7d319151aaa0 56 }
PlayaLarrea 2:b5a85ba07057 57 //else if(rgb_data[2]>650){
PlayaLarrea 2:b5a85ba07057 58 else if(rgb_data[0]>900 && rgb_data[1]<700 && rgb_data[2]>650 && rgb_data[3]<700){
PlayaLarrea 2:b5a85ba07057 59 flash = 2.0; //green
PlayaLarrea 1:1dd468e2ad40 60 }
PlayaLarrea 2:b5a85ba07057 61 //else if(rgb_data[3]>300){
PlayaLarrea 2:b5a85ba07057 62 else if(rgb_data[0]>900 && rgb_data[1]<300 && rgb_data[2]<300 && rgb_data[3]>300){
PlayaLarrea 2:b5a85ba07057 63 flash = 4.0; //blue
PlayaLarrea 1:1dd468e2ad40 64 }
PlayaLarrea 0:7d319151aaa0 65 }
PlayaLarrea 0:7d319151aaa0 66 }