Revision 12:c0bcb95885dd, committed 2017-05-10

Comitter:

beacon

Date:

Wed May 10 13:30:13 2017 +0000

Parent:

11:292bdbd85a9c

Commit message:

k

Changed in this revision

--- a/Headers/Declarations.h	Sat May 06 13:33:23 2017 +0000
+++ b/Headers/Declarations.h	Wed May 10 13:30:13 2017 +0000
@@ -17,16 +17,16 @@
 #define BLEFT 4             //Arrayindex of the backsward left Sensor & right LED
 
 //ColorSensors:
-#define RED_UPLIMIT 500     //Default limit in mV
-#define GREEN_DOWNLIMIT 501 //
-#define GREEN_UPLIMIT 1200  //
+#define RED_UPLIMIT 1300    //Default limit in mV
+#define GREEN_DOWNLIMIT 1301//
+#define GREEN_UPLIMIT 2000  //
 
 #define GREEN 1             //Will be used to operate arm functions
 #define NOBLOCK 0           //
-#define RED -1              //
+#define RED 2               //
 
 //Greifer:
-#define PC_7 SERVO0
+//#define PC_7 SERVO0
 
 //Arm
 #define COLLECT_POS 60.0f
@@ -34,7 +34,7 @@
 #define TAKE_POS -65.0f
 
 //Misc:
-#define TIMEOUT 140         //if the timer reaches TIMEOUT ([TIMEOUT] = 0.1s), the robot will reset.
+#define TIMEOUT 1400        //if the timer reaches TIMEOUT ([TIMEOUT] = 0.1s), the robot will reset.
 #define MAX 50              //Once the counter reaches MAX, it will turn around.
 
 #endif
\ No newline at end of file

--- a/Sources/Arm.cpp	Sat May 06 13:33:23 2017 +0000
+++ b/Sources/Arm.cpp	Wed May 10 13:30:13 2017 +0000
@@ -24,6 +24,7 @@
         return 0;
     }
     else{
+        pos = COLLECT_POS;
         return 1;
     }
 }
@@ -36,6 +37,7 @@
         return 0;
     }
     else{
+        pos = TAKE_POS;
         return 1;
     }
 }
@@ -48,6 +50,7 @@
         return 0;
         }
     else{
+        pos = COLLECT_POS;
         return 1;
     }
 }
@@ -60,6 +63,7 @@
         return 0;
         }
     else{
+        pos = RELEASE_POS;
         return 1;
     }
 }
\ No newline at end of file

--- a/Sources/Farbsensor.cpp	Sat May 06 13:33:23 2017 +0000
+++ b/Sources/Farbsensor.cpp	Wed May 10 13:30:13 2017 +0000
@@ -18,28 +18,31 @@
 
 int Farbsensor::read()
 {
-    int farbe;
-    float Messungen=0.0;
-    for(int i=0;i<10;i++){
-        Messungen+=FarbVoltage->read();
-        wait(0.2);
-        }  
-    float Ufarbsensor = Messungen/10.0;
-    Ufarbsensor = Ufarbsensor*3300; //Set the Voltage between 0mV und 3300mV
-
-    if ((Ufarbsensor > GREEN_DOWNLIMIT) && (Ufarbsensor < GREEN_UPLIMIT))
-        {
-         farbe=1;
+    static int time=0;
+    static float Messungen=0.0f;
+    if( time < 10 ){
+        Messungen += FarbVoltage->read();
+        time++;
+        return -1;
+    }
+    else{
+        time = 0;
+        float Ufarbsensor = Messungen/10.0;
+        Ufarbsensor = Ufarbsensor*3300; //Set the Voltage between 0mV und 3300mV
+    
+        if ((Ufarbsensor > GREEN_DOWNLIMIT) && (Ufarbsensor < GREEN_UPLIMIT))
+            {
+             return GREEN;
+            }
+        else if(Ufarbsensor < RED_UPLIMIT)
+            {
+             return RED;
+            }
+        else 
+            {
+             return NOBLOCK;
+            }
         }
-    else if(Ufarbsensor < RED_UPLIMIT)
-        {
-         farbe=-1;
-        }
-    else 
-        {
-         farbe=0;
-        }
-    return farbe;
 }
 
 Farbsensor::operator int()

--- a/Sources/Greifer.cpp	Sat May 06 13:33:23 2017 +0000
+++ b/Sources/Greifer.cpp	Wed May 10 13:30:13 2017 +0000
@@ -19,8 +19,8 @@
 void Greifer::init(Servo* greifer)
 {
     this->greifer = greifer;
-    greifer->calibrate(0.0015f, 180.0f);
-    greifer->position(85.0f);
+    greifer->calibrate(0.0017f, 180.0f);
+    greifer->position(60.0f);
 }
 
 int Greifer::take()
@@ -32,19 +32,21 @@
         return 0;
     }
     else{
+        time = 0;
         return 1;
     }
 }
 
 int Greifer::leave()
 {
-    this->greifer->position(85.0f);
+    this->greifer->position(60.0f);
     static int time = 0;
     if( time < 10 ){
         time++;
         return 0;
     }
     else{
+        time = 0;
         return 1;
     }
 }
\ No newline at end of file

--- a/Sources/main.cpp	Sat May 06 13:33:23 2017 +0000
+++ b/Sources/main.cpp	Wed May 10 13:30:13 2017 +0000
@@ -33,10 +33,11 @@
 ServoArm servoArm(PA_6);
 
 //Greifer:
-Servo servoGreifer(PB_7);
+Servo servoGreifer(PC_7);
 
 //Farbsensor:
 AnalogIn FarbVoltage(A0);
+DigitalOut led(D2);
 
 Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm, &servoGreifer ); //Implement the Farbsensor into the Robot init function!!
 
@@ -62,7 +63,7 @@
 
     enum states { search = 0, forward, downward, down, upward, color, backwardDrop, readyDrop, backward };
 
-    int state = search;
+    int state = downward;
 
     while( 1 ) {
         
@@ -112,19 +113,23 @@
                 break;
             
             case color: {
+                led = 1;
                 int color = sam.FarbVoltage.read();
                 
-                if( color == -1){
+                if( color == -1 ){
                     //Do nothing
                 }
                 
+                
                 else if( color == 0 || color == GREEN ){
                     state = backwardDrop;
+                    led = 0;
                     timer = 0;
                 }
                 
                 else if( color == RED ){
                     state = readyDrop;
+                    led = 0;
                     timer = 0;
                 }
                 
@@ -152,7 +157,7 @@
                 
             case backward:
                 if( sam.Arm.collectToBack() ){
-                    state = search;
+                    state = downward;
                     timer = 0;
                 }