Zolovick_Larrea_Mouaffek
/
ES202_Final_Project
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Dependencies: ContinuousServo TCS3472_I2C Tach mbed
Revision 0:389040618ce2, committed 2018-04-30
- Comitter:
- georgezolovick
- Date:
- Mon Apr 30 17:16:55 2018 +0000
- Child:
- 1:50677ba704f5
- Commit message:
- 30Apr2018
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ContinuousServo.lib Mon Apr 30 17:16:55 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/jdonnal/code/ContinuousServo/#d6371727ce0c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TCS3472_I2C.lib Mon Apr 30 17:16:55 2018 +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 Mon Apr 30 17:16:55 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/jdonnal/code/Tach/#c165325c9e3f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Apr 30 17:16:55 2018 +0000
@@ -0,0 +1,96 @@
+#include "mbed.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+#include "TCS3472_I2C.h"
+
+ContinuousServo left(p23);
+ContinuousServo right(p26);
+AnalogIn sonar(p19);
+PwmOut LB(p22); // PWM out signal to power LED on the sensor
+TCS3472_I2C rgb_sensor( p9, p10 ); // Establish RGB sensor object
+DigitalOut hallpwr(p22);
+DigitalIn hall(p21);
+BusOut flash(LED1, LED2, LED3, LED4);
+Ticker mine;
+Ticker ultra;
+Serial pc(USBTX,USBRX);
+
+float wall = 100.0;
+float analog;
+float range;
+
+int rgb_data[4]; // declare a 4 element array to store RGB sensor readings
+float PWMbrightness = 1.0; // float specifying brightness of LED (between 0.0 and 1.0)
+int x;
+float a,b,c;
+
+void update()
+{
+ a = 2.3*156.25*sonar.read();
+ //pc.printf("%f\r\n", a);
+ wait(0.01);
+ b = 2.3*156.25*sonar.read();
+ //pc.printf("%f\r\n", b);
+ wait(0.01);
+ c = 2.3*156.25*sonar.read();
+ //pc.printf("%f\r\n", c);
+ wait(0.01);
+ wall = (a+b+c)/3.0;
+ pc.printf("%f\r\n", wall);
+}
+
+void sweep()
+{
+ if(hall.read() == 1){
+ flash = 8.0;
+ wait(0.1);
+ hallpwr = 0;
+ }
+ else{
+ flash = 0.0;
+ }
+}
+
+int main()
+{
+ ultra.attach(&update, 0.1);
+
+ hall.mode(PullUp);
+ hallpwr = 1;
+ mine.attach(&sweep, 0.1);
+
+ rgb_sensor.enablePowerAndRGBC(); // Enable RGB sensor
+ rgb_sensor.setIntegrationTime(100); // Set integration time of sensor
+
+ wait(3);
+
+ while(wall>=6.9) { // main code for driving goes here
+ //x = hall.read();
+ //if(x == 1) {
+ // flash = 8.0;
+ // wait(0.25);
+ // x = 0;
+ //} else if (x == 0){
+ // flash = 0.0;
+ //}
+ //x = hall.read();
+
+ LB = PWMbrightness; // set brightness of sensor LED
+ rgb_sensor.getAllColors( rgb_data );
+ pc.printf("%d\r\n", rgb_data[1]);
+ left.speed(.15);
+ right.speed(-.25);
+ if(rgb_data[1]<900) {
+ left.speed(.1);
+ right.speed(-.25);
+ } else if(rgb_data[1]>1000) {
+ left.speed(.19);
+ right.speed(-.18);
+ } else{
+ left.speed(.15);
+ right.speed(-.25);
+ }
+ }
+ left.stop();
+ right.stop();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Apr 30 17:16:55 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee \ No newline at end of file