Revision 11:30f57addb79f, committed 2019-05-29

Comitter:

MarlonQ

Date:

Wed May 29 15:44:04 2019 +0000

Parent:

10:92350e68d5ee

Commit message:

Final segundo corte;

Changed in this revision

--- a/main.cpp	Tue Apr 23 15:35:23 2019 +0000
+++ b/main.cpp	Wed May 29 15:44:04 2019 +0000
@@ -57,7 +57,7 @@
 /* ||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 ) ;
+    scolor_TCS3200 scolor( PA_9, PC_7, PB_6, PA_4, PB_3) ; // 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 ) ;
@@ -65,14 +65,15 @@
     AnalogIn analog_value0 ( A0 ) ;
     AnalogIn analog_value1 ( A1 ) ;
     PwmOut mybuzzer( PB_9 ) ;
-
+    Ticker tk1; 
 /* ||Definicion de Puertos || */
 
-    uint32_t VELOCITY = 400 ; // Tiempo en micro segundos
+    uint32_t VELOCITY = 2500 ; // Tiempo en micro segundos
     int16_t Lectura [ 2 ] = {} ;
     double In [ 1 ] = {} ; 
     
 // definición de las funciones
+    
     void setup_uart ();
     void leer_datos ();
     void leer_color ();
@@ -81,6 +82,7 @@
 int main() {
 
     setup_uart();
+    tk1.attach( &leer_color, 0.1 );
     while(1){  
       
         leer_datos();
@@ -139,11 +141,6 @@
             
             if ( frqblue >= 5.0 and frqblue <= 29.0 ) {  
                 
-                printf ( "tiende a rojo \n" );
-                mybuzzer.period_us(DO);
-                mybuzzer.write (0.8);
-                wait (5);
-                mybuzzer.write (0);
                 sel_color = 1;
                 
             }
@@ -158,11 +155,6 @@
 
             if ( frqblue >= 10.0 and frqblue <= 26.0 ) { 
             
-            printf ( "tiende a verde  \n" );
-            mybuzzer.period_us(RE);
-            mybuzzer.write (0.5);
-            wait (5);
-            mybuzzer.write (0);
             sel_color = 2;
             
             }
@@ -177,11 +169,6 @@
             
             if ( frqred >= 5.0 and frqred <= 20.0 ) { 
             
-            printf ( "tiende a azul \n" );
-            mybuzzer.period_us (MI);
-            mybuzzer.write (1);
-            wait (5);
-            mybuzzer.write (0);
             sel_color = 3;
             
             }
@@ -195,12 +182,7 @@
         if( frqgreen >= 20.0 and frqgreen <= 40.0) {
             
             if ( frqred >= 20.0 and frqred <= 50.0 ) {
-                
-            printf ( "tiende a amarillo \n" );    
-            mybuzzer.period_us (FA);
-            mybuzzer.write (0.6);
-            wait (5);
-            mybuzzer.write( 0);    
+                    
             sel_color = 4;
                         
             }
@@ -213,18 +195,13 @@
  switch ( sel_color ) {
     
     case 0 :
-    
-    //int32_t enviar5 = RESPUESTA5 ;
-    //char txt5 [6] ;
-    //printf ( txt5 , "%02X" , enviar5 );
-    printf ( " FF00 \n " );
+    printf ( "FE01 \n" );
+
     
     break ;
     
     case 1 :
     
-    //int32_t enviar1 = RESPUESTA1 ;
-    //char txt1 [6] ;
     printf ( "FE01 \n" );
     sel_color = 0;
     
@@ -268,11 +245,11 @@
         switch ( _Comando ){
             // Acciones que ejerce el robot
             
-            case 0 :
+            /*case 0 :
             
                 leer_color() ;
                 
-            break ;
+            break ;*/
             
             case 1 :