Diff: main.cpp

Revision:

0:3d3331775af2

Child:

1:9bafb8db5980

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 08 03:37:43 2019 +0000
@@ -0,0 +1,241 @@
+#include "mbed.h"
+#include "stdint.h"
+#include "MCP23017.h"
+#include "WattBob_TextLCD.h"
+#include "VL6180.h"
+#define     BACK_LIGHT_ON(INTERFACE)    INTERFACE->write_bit(1,BL_BIT)
+#define     BACK_LIGHT_OFF(INTERFACE)   INTERFACE->write_bit(0,BL_BIT)
+#define IDENTIFICATIONMODEL_ID 0x0000
+VL6180  TOF_sensor(I2C_SDA, I2C_SCL);
+MCP23017            *par_port;
+WattBob_TextLCD     *lcd;
+Serial pc(A0,A1,9600);//TX,RX
+I2C i2c(PC_1, PC_0); //pins for I2C communication (SDA, SCL)
+int sensor_addr = 41 << 1;
+#define Random(x)(rand()%x)
+DigitalOut green(LED1);
+int flag_Android=0;
+DigitalOut pwm1(D6);
+DigitalOut pwm2(D7);
+DigitalOut pwm3(D8);
+DigitalIn mode1(A3);
+DigitalIn mode2(A4);
+int start_signal;
+int end_signal;
+int a;
+void echouart1()
+{
+      start_signal=pc.getc();
+}
+void echouart2()
+{
+      end_signal=pc.getc();
+}
+int color_sensor()
+{
+      int customer_card;
+      char clear_reg[1] = {148};
+
+        char clear_data[2] = {0,0};
+
+        i2c.write(sensor_addr,clear_reg,1, true);
+
+        i2c.read(sensor_addr,clear_data,2, false);
+
+        
+
+        int clear_value = ((int)clear_data[1] << 8) | clear_data[0];
+
+        
+
+        char red_reg[1] = {150};
+
+        char red_data[2] = {0,0};
+
+        i2c.write(sensor_addr,red_reg,1, true);
+
+        i2c.read(sensor_addr,red_data,2, false);
+
+        
+
+        int red_value = ((int)red_data[1] << 8) | red_data[0];
+
+       
+
+       char green_reg[1] = {152};
+
+       char green_data[2] = {0,0};
+
+        i2c.write(sensor_addr,green_reg,1, true);
+
+        i2c.read(sensor_addr,green_data,2, false);
+
+       
+
+       int green_value = ((int)green_data[1] << 8) | green_data[0];
+
+        
+
+        char blue_reg[1] = {154};
+
+        char blue_data[2] = {0,0};
+
+        i2c.write(sensor_addr,blue_reg,1, true);
+
+        i2c.read(sensor_addr,blue_data,2, false);
+    
+
+        int blue_value = ((int)blue_data[1] << 8) | blue_data[0];
+
+    //判断颜色
+          if (red_value>green_value&&red_value>blue_value)
+    customer_card=-2;
+        
+        
+        else if (green_value>red_value&&green_value>blue_value)
+           customer_card=1;
+        
+        else if (blue_value>red_value&&blue_value>green_value)
+           customer_card=2;
+    
+    return customer_card;
+    }
+int main()
+{
+pc.baud(9600);
+    
+    // Connect to the Color sensor and verify whether we connected to the correct sensor. 
+    
+    i2c.frequency(100000);//修改为100000，否则报错
+    
+    char id_regval[1] = {146};
+    char data[1] = {0};
+    i2c.write(sensor_addr,id_regval,1, true);
+    i2c.read(sensor_addr,data,1,false);
+    
+
+    // Initialize color sensor
+    
+    char timing_register[2] = {129,0};
+    i2c.write(sensor_addr,timing_register,2,false);
+    
+    char control_register[2] = {143,0};
+    i2c.write(sensor_addr,control_register,2,false);
+    
+    char enable_register[2] = {128,3};
+    i2c.write(sensor_addr,enable_register,2,false);
+    pc.baud(9600); 
+    uint8_t dist;
+    par_port = new MCP23017(I2C_SDA, I2C_SCL,0x0400);
+    par_port->config(0x0F00, 0x0F00, 0x0F00);           // configure MCP23017 chip on WattBob
+    
+    lcd = new WattBob_TextLCD(par_port);
+    int winscore;
+while(dist==255)
+{
+ dist = TOF_sensor.getDistance();
+
+        pc.printf("d=%d", dist);
+        wait(0.2);
+        lcd->cls(); 
+        lcd->locate(0,0);
+}
+/*while(mode1==0&&mode2==0)
+{}
+if(mode1==0&&mode2==1)
+ {winscore=15;}
+ else if(mode1==1&&mode2==0)
+{winscore=20;}
+else if(mode1==1&&mode2==1)
+{winscore=25;}*/
+    int customer_card;
+ int record[10];
+ int p;
+while(1)
+{
+/*pc.attach(&echouart1,SerialBase::RxIrq);//如果串口没有发送数据，那么主程序中的程序会继续执行，如果串口有发送数据，则执行函数*/
+if(pc.readable())
+       {
+          p=pc.getc();
+          start_signal=p;
+          break;
+          }
+}
+ if(start_signal==1)
+  {
+    int score[10];
+    score[0]=10;
+    int robot_card;
+    int a;
+    int i;
+    for(i=1;i<5;i++)
+      {
+           pwm1=1;pwm2=1;pwm3=0;//控制遮挡电机关闭
+           a=Random(4);//电脑出牌,产生[0, dis)之间的随机数，注意不包括4
+           switch(a)
+        {case 0:{robot_card=-2;pwm1=0;pwm2=0;pwm3=1;break;}
+         case 1: {robot_card=-1;pwm1=0;pwm2=1;pwm3=0;break;}
+         case 2: {robot_card=1;pwm1=0;pwm2=1;pwm3=1;break;}
+         case 3: {robot_card=2;pwm1=1;pwm2=0;pwm3=0;break;}     
+        }
+                       /*wait_ms(15000);*/
+        customer_card=color_sensor();
+        switch(customer_card)
+        {case -2:{record[i]=2;break;}
+         case 1:{record[i]=Random(2);break;}
+         case 2:{record[i]=-2;break;}   
+        }
+        if(customer_card==!0)
+        {
+            pwm1=1;pwm2=1;pwm3=1;//控制遮挡电机显示电脑出牌
+        }
+        score[i]=score[i-1]+robot_card*customer_card;
+        pc.printf("%d",score[i]);//每一轮传给上位机总分
+        if(score[i]>=winscore)
+            {   
+            pc.printf("%d",score[i]);
+            break;
+            }
+        while(end_signal==0)//这一轮结束信号（即25秒以后产生）
+        {}
+
+                  }
+    if(score[i]<20)
+    {
+        for(i;i<7;i++)
+    {
+        pwm1=1;pwm2=1;pwm3=0;//控制遮挡电机关闭
+            robot_card=record[Random(i-1)+1];
+           switch(robot_card)
+        {case -2:  {pwm1=0;pwm2=0;pwm3=1;break;}
+         case -1:  {pwm1=0;pwm2=1;pwm3=0;break;}
+         case 1:   {pwm1=0;pwm2=1;pwm3=1;break;}
+         case 2:   {pwm1=1;pwm2=0;pwm3=0;break;}        
+        }
+                       wait_ms(15000);
+        customer_card=color_sensor();
+        switch(customer_card)
+        {case -2:{record[i]=2;break;}
+         case 1:{record[i]=Random(2);break;}
+         case 2:{record[i]=-2;break;}   
+        }
+        if(customer_card==!0)
+        {
+            pwm1=1;pwm2=1;pwm3=1;//控制遮挡电机显示电脑出牌
+        }
+        score[i]=score[i-1]+robot_card*customer_card;
+        pc.printf("%d",score[i]);//每一轮传给上位机总分
+        if(score[i]>=winscore)
+            {   
+            pc.printf("%d",score[i]);
+            break;
+            }
+        while(end_signal==0)//这一轮结束信号（即25秒以后产生）
+        {
+        pc.attach(&echouart1,SerialBase::RxIrq);//如果串口没有发送数据，那么主程序中的程序会继续执行，如果串口有发送数据，则执行函数 
+        }
+    }
+    }
+
+  }
+}