Diff: colorsensor.cpp

Revision:

1:60c79e942c98

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/colorsensor.cpp	Fri Jun 08 22:22:10 2018 +0000
@@ -0,0 +1,69 @@
+#include "mbed.h"
+#include "gyro.h"
+#include "Distance.h"
+
+Timer ccc;
+
+void blue()
+{
+    M1=-1;M2=1;//左边45度
+    wait(0.4);
+    M1=0;M2=0;
+    change(135);
+    driveit();
+    ccc.start();
+    while(1)
+    {
+        if(ccc.read()>15)
+        {
+            M1=1;M2=-1;//右边135度
+            wait(1.25);
+            M1=0;M2=0;
+            change(-135);
+            driveit();
+            enable1();
+            break;
+            }
+        }
+    }
+void red()
+{   
+     M1=1;M2=-1;//右边45度
+    wait(0.4);
+    M1=0;M2=0;
+    change(45);
+    driveit();
+    ccc.start();
+    while(1)
+    {
+        if(ccc.read()>15)
+        {
+            M1=1;M2=-1;//右边45度
+            wait(0.4);
+            M1=0;M2=0;
+            change(-45);
+            driveit();
+            enable1();
+            break;
+            }
+        }
+    }
+void green()
+{
+    change(90);
+    driveit();
+    ccc.start();
+    while(1)
+    {
+        if(ccc.read()>20)
+        {
+            M1=1;M2=-1; //右转90
+            wait(0.75);
+            change(-90);
+            driveit();
+            enable1();
+            break;
+            }
+        }
+    }
+