Einer Fabian Aponte Cubides
/
Final2
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main.cpp
- Committer:
- Darstack
- Date:
- 2019-05-17
- Revision:
- 11:6b3570e525a1
- Parent:
- 10:92350e68d5ee
File content as of revision 11:6b3570e525a1:
#include "mbed.h"
#include "scolor_TCS3200.h"
/* *****************************************************************************
Programa que solicita telemetria al sistema embebido, por medio del comando 0xFe
para preguntar por el color que detecta el sensor TCS3200
el sistema embebido recibe el inicio de trama FE y el número de comado: 01
| INITELE | CMD |
| 0xfe | 0x01 |
para enviar los comandos usar el programa Coolterm http://freeware.the-meiers.org/
@fabeltranm 2019
fbeltranm@ecci.edu.co
********************************************************************************
datasheet https://www.mouser.com/catalog/specsheets/TCS3200-E11.pdf
S0 Frequency scaling
S1 Frequency scaling
S2 Photo diode selection
S3 Photo diode selection
OutFreq Frequency
-----------------------------------
| ____________ ____________ |
----> | | | | | | ___ ___
Light | | Photodiode | | Current |--|---OUTPUT_FREQ | |___| |___
----> | | Array |---| to | |
| | | | Frequency | |
| |____________| |____________| |
| ^ ^ ^ ^ |
-------|--|-------------|--|-------
| | | |
S2 S3 S0 S1
SO | S1 | OUTPUT FREQUENCY SCALING | | S2 | S3 | PHOTODIODE TYPE |
0 | 0 | power down | | 0 | 0 | Red |
0 | 1 | 2% | | 0 | 1 | Blue |
1 | 0 | 20% | | 1 | 0 | Clear (no filter) |
1 | 1 | 100% | | 1 | 1 | Green |
******************************************************************************/
#define INITCMD 0xFF
#define DO 2000
#define RE 2500
#define MI 3000
#define FA 3500
/* ||Definicion de Puertos || */
Serial command(USBTX, USBRX);
// S0, S1, S2, S3, OUT
scolor_TCS3200 scolor( PA_9, PC_7, PB_6, PA_7, PA_6 ) ;
DigitalOut stepper_step ( PB_4 ) ;
DigitalOut steppeer_dir ( PB_5 ) ;
DigitalOut stepper_step2 ( PB_10 ) ;
DigitalOut steppeer_dir2 ( PA_8 ) ;
AnalogIn analog_value0 ( A0 ) ;
AnalogIn analog_value1 ( A1 ) ;
PwmOut mybuzzer( PB_9 ) ;
Ticker tk1;
volatile int Exit = 0 ;
/*|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||/ /
/ | |/
/ | Interrupcion del Joystick- Eliminando ruido |/
/ | |/
/ | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||*/
//Definicion de variables
DigitalOut led1(LED1);
InterruptIn Button_joy(USER_BUTTON);
Timeout Button_joy_timeout; // Used for debouncing
//Definicion de las funciones
volatile bool Button_joy_pressed = false; // Used in the main loop
volatile bool Button_joy_enabled = true; // Used for debouncing
// Habilita el botón cuando termina el rebote.
void Button_joy_enabled_cb(void)
{
Button_joy_enabled = true;
}
// ISR Luego de precionar el boton
void Button_joy_onpressed_cb(void)
{
if (Button_joy_enabled) { // Desabilitado mientras e ruido
Button_joy_enabled = false;
Button_joy_pressed = true; // Se cambia el valor para ser leido más adelante
Button_joy_timeout.attach(callback(Button_joy_enabled_cb), 0.3); // Delay de 300 ms
}
if (Button_joy_pressed) { // Etablece cuando se preciona el botn
Button_joy_pressed = false;
//NVIC_SystemReset();
led1 = !led1;
}
}
/*|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||/ /
/ |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||/
/ | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||*/
void Rx_interrupt();
/*Definicion de variables codigo principal*/
uint32_t VELOCITY = 400 ; // Tiempo en micro segundos
int16_t Lectura [ 2 ] = {} ;
double In [ 1 ] = {} ;
// Definición de las funciones bucle principal
void setup_uart ();
void leer_datos ();
void leer_color ();
void funcionesrobot ( uint8_t _Parametro, uint8_t _Comando );
int main() {
setup_uart();
tk1.attach ( &leer_color, 0.8 ); // Se dirigue a la funcion leer_color cada 0.8 segundos
Button_joy.fall(callback(Button_joy_onpressed_cb)); // Llama a la funcion Button_joy_onpressed_cb al precionar el botón
while(1){
//Interrupcion boton
leer_datos();
funcionesrobot ( Lectura [ 1 ], Lectura [ 0 ] );
}
}
//Declaracion de las funciones
void setup_uart(){
command.baud(115200);
}
void leer_datos(){
while ( command.getc()!= INITCMD ) ;
uint8_t i ;
for ( i = 0 ; i < 2 ; i++){
Lectura [ i ] = command.getc ();
//printf ( " %4d ", Lectura [ i ]);
}
}
void Rx_interrupt() {
Exit = 1;
}
void leer_color(){
mybuzzer.write(0);
long red = scolor.ReadRed();
long green = scolor.ReadGreen();
long blue = scolor.ReadBlue();
long clear = scolor.ReadClear();
long frqred;
long frqgreen;
long frqblue;
long frqclear;
int8_t sel_color = 0;
printf("RED: %5d GREEN: %5d BLUE: %5d CLEAR: %5d \n ", red, green, blue, clear);
frqred = ( ( 1.0/red )* 1000.0 );
frqgreen = ( ( 1.0/green ) * 1000.0);
frqblue = ( (1.0/blue) *1000.0 );
frqclear = ( (1.0/clear) *1000.0 );
printf("RED: %5d GREEN: %5d BLUE: %5d CLEAR: %5d \n ", frqred, frqgreen, frqblue,frqclear);
///////////////////////////////////////////////////////////////////////////////
/*||||||||||||||||Seleccionando los diferentes colores.||||||||||||||||||||||*/
/*||||||||||||||||||||||||||||||Color rojo|||||||||||||||||||||||||||||||||||*/
///////////////////////////////////////////////////////////////////////////////
if ( frqred >= 30.0 and frqred <= 500.0) {
if( frqgreen >= 0.0 and frqgreen <= 20.0 ) {
if ( frqblue >= 5.0 and frqblue <= 29.0 ) {
sel_color = 1;
}
}
}
////////////////////////////////////////////////////////////////////////////////
/*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color verde°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
////////////////////////////////////////////////////////////////////////////////
if ( frqgreen >= 11.0 and frqgreen <= 21.0) {
if( frqred >= 8.0 and frqred <= 20.0 ) {
if ( frqblue >= 10.0 and frqblue <= 26.0 ) {
sel_color = 2;
}
}
}
////////////////////////////////////////////////////////////////////////////////
/*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color azul°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
///////////////////////////////////////////////////////////////////////////////
if ( frqblue >= 10.0 and frqblue <= 70.0) {
if( frqgreen >= 5.0 and frqgreen <= 26.0 ) {
if ( frqred >= 5.0 and frqred <= 20.0 ) {
sel_color = 3;
}
}
}
/////////////////////////////////////////////////////////////////////////////////
/*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color amarillo°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
////////////////////////////////////////////////////////////////////////////////
if ( frqblue >= 0.0 and frqblue <= 30.0 ) {
if( frqgreen >= 20.0 and frqgreen <= 40.0) {
if ( frqred >= 20.0 and frqred <= 50.0 ) {
sel_color = 4;
}
}
}
/////////////////////////////////////////////////////////////////////////////////
/*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color no found°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
////////////////////////////////////////////////////////////////////////////////
switch ( sel_color ) {
case 0 :
//int32_t enviar5 = RESPUESTA5 ;
//char txt5 [6] ;
//printf ( txt5 , "%02X" , enviar5 );
command.putc( 0xFE );
command.putc( 0x00 );
break ;
case 1 :
//int32_t enviar1 = RESPUESTA1 ;
//char txt1 [6] ;
command.putc( 0xFE );
command.putc( 0x01 );
sel_color = 0;
break ;
case 2 :
//int32_t enviar2 = RESPUESTA2 ;
//char txt2 [6] ;
command.putc ( 0xFE );
command.putc ( 0x02 );
sel_color = 0;
break ;
case 3 :
//int32_t enviar3 = RESPUESTA3;
//char txt3 [6] ;
command.putc ( 0xFE );
command.putc ( 0x03 );
sel_color = 0;
break ;
case 4 :
//int32_t enviar4 = RESPUESTA4;
//char txt4 [6] ;
command.putc ( 0xFE );
command.putc ( 0x04 );
sel_color = 0;
break ;
}
}
void funcionesrobot ( uint8_t _Parametro, uint8_t _Comando ){
/* °°Declaración de contadores°° */
uint8_t i ;
uint8_t j ;
switch ( _Comando ){
// Acciones que ejerce el robot
/*case 0 :
leer_color() ;
break ; */
case 1 :
printf ( "Frecuencia: 2000 Tiempo: %d s \n" , _Parametro ) ;
mybuzzer.period_us ( DO ) ;
mybuzzer.write ( 0.8 ) ;
wait( _Parametro ) ;
mybuzzer.write ( 0 ) ;
break ;
case 2 :
printf ( "Frecuencia: 2500 Tiempo: %d s \n" , _Parametro ) ;
mybuzzer.period_us ( RE ) ;
mybuzzer.write ( 0.8 ) ;
wait ( _Parametro ) ;
mybuzzer.write ( 0 ) ;
break ;
case 3 :
printf ( " Frecuencia: 3000 " ); printf ( " Tiempo: %d s \n " , _Parametro ) ;
mybuzzer.period_us ( MI ) ;
mybuzzer.write ( 0.8 ) ;
wait( _Parametro ) ;
mybuzzer.write ( 0 ) ;
break ;
case 4 :
printf ( "Frecuencia: 3500 Tiempo: %d s \n" , _Parametro ) ;
mybuzzer.period_us ( FA );
mybuzzer.write ( 0.8 );
wait ( 5 );
mybuzzer.write ( 0 );
break ;
case 5 :
steppeer_dir = 1 ;
steppeer_dir2 = 0 ;
wait_us ( 1 );
for ( j = 1 ; j <= _Parametro ; j++){
for ( i= 0 ; i <= 200 ; i++ ){
stepper_step = 1 ;
stepper_step2 = 1;
wait_us( VELOCITY );
stepper_step = 0;
stepper_step2 = 0;
wait_us ( VELOCITY );
}
}
break ;
case 6 :
steppeer_dir = 0;
steppeer_dir2 = 1;
wait_us ( 1 );
for ( j = 1 ; j <= _Parametro ; j++){
for ( i= 0 ; i <= 200 ; i++ ){
stepper_step = 1 ;
stepper_step2 = 1 ;
wait_us( VELOCITY ) ;
stepper_step = 0 ;
stepper_step2 = 0 ;
wait_us ( VELOCITY ) ;
}
}
break ;
case 7 :
steppeer_dir = 0;
wait_us ( 1 );
for ( j = 1 ; j <= _Parametro ; j++){
for ( i= 0 ; i <= 250 ; i++ ){
stepper_step = 1 ;
//stepper_step2 = 1 ;
wait_us(VELOCITY) ;
stepper_step = 0 ;
//stepper_step2 = 0 ;
wait_us(VELOCITY) ;
}
}
break ;
case 8 :
steppeer_dir2 = 1;
wait_us ( 1 );
for ( j = 1 ; j <= _Parametro ; j++){
for ( i= 0 ; i <= 250 ; i++ ){
//stepper_step = 1 ;
stepper_step2 = 1 ;
wait_us( VELOCITY ) ;
//stepper_step = 0 ;
stepper_step2 = 0 ;
wait_us ( VELOCITY ) ;
}
}
break ;
case 9 :
switch ( _Parametro ){
case 1:
VELOCITY = 400 ;
break ;
case 2:
VELOCITY = 2500 ;
break ;
case 3:
VELOCITY = 5000 ;
break ;
}
break ;
case 10:
if ( _Parametro == 1){
while ( !Exit ){
In [ 0 ] = analog_value0.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
//printf(" X = %.04f \n", In[0]);
if ( In [ 0 ] > 0.6 ){
steppeer_dir = 1;
wait_us( 1 );
for ( i= 0 ; i <= 50 ; i++ ){
stepper_step = 1 ;
//stepper_step2 = 1 ;
wait_us( VELOCITY ) ;
stepper_step = 0 ;
//stepper_step2 = 0 ;
wait_us( VELOCITY ) ;
}
}
if ( In [ 0 ] < 0.3 ){
steppeer_dir2 = 1;
wait_us( 1 );
for ( i= 0 ; i <= 50 ; i++ ){
//stepper_step = 1 ;
stepper_step2 = 1 ;
wait_us( VELOCITY ) ;
//stepper_step = 0 ;
stepper_step2 = 0 ;
wait_us( VELOCITY ) ;
}
}
In [ 1 ] = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
//printf(" Y = %.04f \n", In[0]);
if (In [ 1 ] > 0.6 ){
steppeer_dir = 1 ;
steppeer_dir2 = 0 ;
wait_us( 1 );
for ( i= 0 ; i <= 50 ; i++ ){
stepper_step = 1 ;
stepper_step2 = 1 ;
wait_us( VELOCITY ) ;
stepper_step = 0 ;
stepper_step2 = 0 ;
wait_us( VELOCITY ) ;
}
}
if ( In [ 1 ] < 0.3 ){
steppeer_dir = 0 ;
steppeer_dir2 = 1 ;
wait_us( 1 );
for ( i= 0 ; i <= 50 ; i++ ){
stepper_step = 1 ;
stepper_step2 = 1 ;
wait_us( VELOCITY ) ;
stepper_step = 0 ;
stepper_step2 = 0 ;
wait_us ( VELOCITY ) ;
}
}
command.attach( callback(Rx_interrupt), Serial::RxIrq );
/*if ( command.readable () == 1 ){
uint8_t l1, l2 ;
while ( command.getc()!= INITCMD ) ;
l1 = command.getc () ;
l2 = command.getc () ;
if ( l1 == 10 and l2 == 2 ){
Exit = 1 ;
}
}*/
wait_us ( 1 );
}
}
break ;
}
}