Lorenzo Celiento
Signori, questo è il codice di doukietown...... divertitevi
Dependencies: HCSR04 TCS3200 X_NUCLEO_IHM12A1 mbed
Fork of
HelloWorld_IHM12A1
by 
ST
Revision 7:b0ba8a7b6e9f, committed 2017-04-05
- Comitter:
- LorenzoCR
- Date:
- Wed Apr 05 08:36:05 2017 +0000
- Parent:
- 6:bd2fa888c101
- Commit message:
- hallo
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Wed Apr 05 08:36:05 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/prabhuvd/code/HCSR04/#71da0dbf4400
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TCS3200.lib Wed Apr 05 08:36:05 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/wingblank/code/TCS3200/#9edf5a7e29e6
--- a/main.cpp Fri Mar 24 14:13:53 2017 +0000
+++ b/main.cpp Wed Apr 05 08:36:05 2017 +0000
@@ -40,9 +40,15 @@
/* mbed specific header files. */
#include "mbed.h"
+#include "color.h"
+#include "hcsr04.h"
+#include "BDCMotor.h"
/* Component specific header files. */
#include "STSpin240_250.h"
+HCSR04 sensor1(D10, D11);
+
+ColorSensor color(D4, D5, D6, D7, D8);
/* Variables -----------------------------------------------------------------*/
@@ -111,7 +117,6 @@
int main()
{
- uint8_t demoStep = 0;
/* Printing to the console. */
printf("STARTING MAIN PROGRAM\r\n");
@@ -155,126 +160,49 @@
/* Infinite Loop. */
printf("--> Infinite Loop...\r\n");
+ bool fase = 1;
while (true) {
- switch (demoStep) {
- case 0: {
- printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n");
- /* Set speed of motor 0 to 100 % */
- motor->set_speed(0,100);
- /* start motor 0 to run forward*/
- /* if chip is in standby mode */
- /* it is automatically awakened */
- motor->run(0, BDCMotor::FWD);
- break;
- }
- case 1: {
- printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n");
- /* Set speed of motor 0 to 75 % */
- motor->set_speed(0,75);
- /* Set speed of motor 1 to 100 % */
- motor->set_speed(1,100);
- /* start motor 1 to run backward */
- motor->run(1, BDCMotor::BWD);
- break;
- }
- case 2: {
- printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n");
- /* Set speed of motor 0 to 50 % */
- motor->set_speed(0,50);
- /* Set speed of motor 1 to 75% */
- motor->set_speed(1,75);
- break;
- }
- case 3: {
- printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n");
- /* Set speed of motor 0 to 25 % */
- motor->set_speed(0,25);
- /* Set speed of motor 1 to 50% */
- motor->set_speed(1,50);
- break;
- }
- case 4: {
- printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n");
- /* Stop Motor 0 */
- motor->hard_stop(0);
- /* Set speed of motor 1 to 25% */
- motor->set_speed(1,25);
- break;
- }
- case 5: {
- printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n");
- /* Set speed of motor 0 to 25 % */
- motor->set_speed(0,25);
- /* start motor 0 to run backward */
- motor->run(0, BDCMotor::BWD);
- /* Stop Motor 1 */
- motor->hard_stop(1);
- break;
- }
- case 6: {
- printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n");
- /* Set speed of motor 0 to 50 % */
+ motor->run(0, BDCMotor::FWD);
+ motor->run(1, BDCMotor::FWD);
+ motor->set_speed(1,49);
+ motor->set_speed(0,50);
+ sensor1.start();
+ if (sensor1.get_dist_cm() < 10){
+ fase = !fase;
+ if (fase == 0){
+ wait_ms(2500);
+ motor->set_speed(1,15);
+ motor->set_speed(0,50);
+ wait_ms(500);
+ motor->set_speed(1,49);
motor->set_speed(0,50);
- /* Set speed of motor 1 to 25 % */
- motor->set_speed(1,25);
- /* start motor 1 to run backward */
- motor->run(1, BDCMotor::FWD);
- break;
- }
- case 7: {
- printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n");
- /* Set speed of motor 0 to 75 % */
- motor->set_speed(0,75);
- /* Set speed of motor 1 to 50 % */
- motor->set_speed(1,50);
- break;
- }
- case 8: {
- printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n");
- /* Set speed of motor 0 to 100 % */
- motor->set_speed(0,100);
- /* Set speed of motor 1 to 75 % */
- motor->set_speed(1,75);
- break;
- }
- case 9: {
- printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
- /* Set speed of motor 1 to 100 % */
- motor->set_speed(1,100);
- break;
- }
- case 10: {
- printf("STEP 10\r\n: Stop both motors and disable bridges\r\n");
- /* Stop both motors and disable bridge */
- motor->hard_hiz(0);
- motor->hard_hiz(1);
- break;
- }
- case 11: {
- printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
- /* Start both motors to go forward*/
- motor->run(0,BDCMotor::FWD);
- motor->run(1,BDCMotor::FWD);
- break;
- }
- case 12:
- default: {
- printf("STEP 12: Stop both motors and enter standby mode\r\n");
- /* Stop both motors and put chip in standby mode */
- motor->reset();
- break;
- }
- }
-
- /* Wait for 5 seconds */
- wait_ms(5000);
-
- /* Increment demostep*/
- demoStep++;
- if (demoStep > 12) {
- demoStep = 0;
- }
- }
+ }
+ else
+ {
+ wait_ms(2500);
+ motor->set_speed(1,50);
+ motor->set_speed(0,15);
+ wait_ms(500);
+ motor->set_speed(1,49);
+ motor->set_speed(0,50);
+ }
+ }
+
+ if(color.getRed()>100&&color.getGreen()>100)
+ {
+ //se vede il giallo allora fa questo
+ }
+ if(color.getRed()>130&&color.getGreen()>130&&color.getBlue()>130){
+ //se vede il bianco allora fa questo
+ unsigned int motorino=
+ }
+ if(color.getRed()>110){
+ //se vede il rosso
+ motor->hard_stop(0);
+ motor->hard_stop(1);
+ wait(2);
+ }
+ }
}
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/*********** (C) COPYRIGHT STMicroelectronics ********** END OF FILE **********/
--- a/mbed.bld Fri Mar 24 14:13:53 2017 +0000 +++ b/mbed.bld Wed Apr 05 08:36:05 2017 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/082adc85693f \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/856d2700e60b \ No newline at end of file