Revision 1:60c79e942c98, committed 2018-06-08

Comitter:

Charlie_He

Date:

Fri Jun 08 22:22:10 2018 +0000

Parent:

0:4ca3e247b86a

Commit message:

TDPS; ; ;

Changed in this revision

--- a/Distance.h	Fri Jun 08 12:29:16 2018 +0000
+++ b/Distance.h	Fri Jun 08 22:22:10 2018 +0000
@@ -5,42 +5,69 @@
 SRF05 Usound1(p26,p15);
 HCSR04 Usound2(p25,p16);
 Ticker t1;
+
+extern Motor M1;
+extern Motor M2;
+
 int n=0;
+int turns=0;
+void enable1();
+void enable2();
+void turnR()
+{
+    M1=1;M2=-1; //右转90
+    wait(0.75);   
+    }
+void turnL()
+{
+    M1=-1;M2=1; //左转90
+    wait(0.75);
+    }
 void distancedetectL()
 {
     float u= Usound1.read();
     if(7<=u<=20)  {
         n+=1;
-        if (n>=3)
-        {
-            //turnL();
+        if (n>=3) {
+            turnL();
             change(90);
-            //driveit();
+            driveit();
             n=0;
-            }
+            enable2();
         }
     }
+}
 void distancedetectR()
 {
     float u= Usound2.read_cm();
-    if(7<=u<=20)  {
+    if(30<=u)  {
         n+=1;
-        if (n>=3)
-        {
-            //turnL();
-            change(90);
-            //driveit();
-            n=0;
+        if (n>=3) {
+            turns+=1;
+            turnL();
+            if(turns>=3) {
+                t1.detach();
+                M1=0.5;M2=0.5;
+                wait(3);
+                M1=0;M2=0;
+            } else {
+                turnR();
+                change(-90);
+                driveit();
+                n=0;
+                enable1();
             }
         }
     }
+}
 void enable1()
 {
-   t1.detach();
-   t1.attach(&distancedetectR,0.4);
-    }  
+   M1=0;M2=0;
+   /* t1.detach();
+    t1.attach(&distancedetectR,0.4);*/
+}
 void enable2()
 {
-   t1.detach();
-   t1.attach(&distancedetectL,0.4);
-    }    
\ No newline at end of file
+    t1.detach();
+    t1.attach(&distancedetectL,0.4);
+}
\ No newline at end of file

--- /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;
+            }
+        }
+    }
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/colorsensor.h	Fri Jun 08 22:22:10 2018 +0000
@@ -0,0 +1,17 @@
+#include "mbed.h"
+#include "motor.h"
+
+extern Serial Rasp;
+extern Motor M1;
+extern Motor M2;
+void blue();
+void green();
+void red();
+void colorsensor()
+{
+    char temp;
+    temp=Rasp.getc();
+    if (temp=='0'){red();}
+    else if (temp=='1') {green();}
+    else if (temp=='2') {blue();}
+}
\ No newline at end of file

--- a/gyro.cpp	Fri Jun 08 12:29:16 2018 +0000
+++ b/gyro.cpp	Fri Jun 08 22:22:10 2018 +0000
@@ -1,14 +1,12 @@
 #include "gyro.h"
-//#include "motor.h"
+
 #define IMU_TX_PINMAP p28
 #define IMU_RX_PINMAP p27
 Serial device(IMU_TX_PINMAP, IMU_RX_PINMAP);  // tx, rx
 Ticker ddrive;
-Timer gotime;
+
 int started = false;
 Serial pc(USBTX,USBRX);
-Motor M1(p19,p20,p21);
-Motor M2(p17,p18,p22);
 unsigned char Re_buf[11],counter=0;
 unsigned char sign=0;
 int nnn=0;
@@ -81,27 +79,12 @@
 {
     Standang += up;
     }
-void turnL()
+
+void driveit()
 {
-    M1=-0.5;M2=0.5;
-    wait(1);
-    }
-void turnR()
-{
-    M1=0.5;M2=-0.5;
-    wait(1);
+    ddrive.attach(&drive,0.5);
     }
-
-void driveit(float t)
-{
-        ddrive.attach(&drive,0.5);
-        if (gotime.read()>t)
-        {
-            ddrive.detach();
-            gotime.reset();
-            }
-    }
-    
+ 
 void init_gyro(){
    device.baud(115200);
    device.attach(&deviceEvent, device.RxIrq);

--- a/gyro.h	Fri Jun 08 12:29:16 2018 +0000
+++ b/gyro.h	Fri Jun 08 22:22:10 2018 +0000
@@ -3,17 +3,15 @@
 #include "mbed.h"
 #include "motor.h"
 
+extern Motor M1;
+extern Motor M2;
+
 extern int started;
 extern float yaw;
-extern Serial pc;
-extern Timer gotime;
-//extern Motor M1;
-//extern Motor M2;
 
 void init_gyro();
-void driveit(float t);
+void driveit();
 void change(int up);
-void turnL();
-void turnR();
+
 
 #endif
\ No newline at end of file

--- a/main.cpp	Fri Jun 08 12:29:16 2018 +0000
+++ b/main.cpp	Fri Jun 08 22:22:10 2018 +0000
@@ -1,38 +1,34 @@
 #include "mbed.h"
 #include "gyro.h"
-#include "Distance.h"
+#include "motor.h"
+#include "colorsensor.h"
+
+Serial Rasp(USBTX,USBRX);
+
 Ticker tim;
-void data(int i)
-{
-    change(i);
-    //driveit();
-    }
+Motor M1(p19,p20,p21);
+Motor M2(p17,p18,p22);
 void ddd()
 {
    
     if(started == true)
     {
         tim.detach();
-        gotime.start();
-        driveit(7.5);
-        turnL();
-        //M1=0.3;M2=0.3;
-        //wait(6.75);
-        //直走识别色块
-        
         
+        M1=0.3;M2=0.3;  //直走识别色块
+        wait(6.75);
+        M1=-1;M2=1; //90度
+        wait(0.75);
+        M1=0;M2=0;
         
-        //得到返回值 转角(定好三个函数) 
-        // change(测量)+ driveit()
-        // 到达的判断 + change + driveit() 超声波
-
-        //driveit();   
-        
+        Rasp.printf("8");
+        Rasp.attach(&colorsensor, Rasp.RxIrq);  
         }
     }
 
 int main()
 {
+    Rasp.baud(9600);
     init_gyro();
     tim.attach(&ddd,0.1);
     

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Fri Jun 08 22:22:10 2018 +0000
@@ -0,0 +1,17 @@
+#include "mbed.h"
+#include "motor.h"
+
+void Motor::setSpeed(float speed)
+{
+    if(speed > 0) {
+        motorA = direction?1:0;
+        motorB = direction?0:1;
+    } else {
+        motorA = direction?0:1;
+        motorB = direction?1:0;
+    }
+
+    motorSpeed = speed;
+    
+    motorS = abs(speed);
+}

--- a/motor.h	Fri Jun 08 12:29:16 2018 +0000
+++ b/motor.h	Fri Jun 08 22:22:10 2018 +0000
@@ -1,6 +1,5 @@
 #ifndef MOTOR_H
 #define MOTOR_H
-#include "mbed.h"
 class Motor
 {
 public:
@@ -30,19 +29,6 @@
 
 };
 
-void Motor::setSpeed(float speed)
-{
-    if(speed > 0) {
-        motorA = direction?1:0;
-        motorB = direction?0:1;
-    } else {
-        motorA = direction?0:1;
-        motorB = direction?1:0;
-    }
 
-    motorSpeed = speed;
-    
-    motorS = abs(speed);
-}
 
 #endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servogo.h	Fri Jun 08 22:22:10 2018 +0000
@@ -0,0 +1,17 @@
+#include "mbed.h"
+#include "Servo.h"
+
+PwmOut myservo(p23);
+
+int main() {
+    myservo.period_ms(20);
+         for(int i=0; i<=10; i++) {
+             myservo.pulsewidth_ms((2.5+i)/5);
+             wait(0.01);
+        }
+        for(int i=10; i>=0; i--) {
+             myservo.pulsewidth_ms((2.5+i)/5);
+             wait(0.01);
+         }
+         
+}