Ryo Ogata / Mbed 2 deprecated jumpROBO3_1

jumozisan

Fork of colorSensor by yusuke takahashi

main.cpp@2:6692f0d33ca2, 2013-09-04 (annotated)

Committer:
OGA
Date:
Wed Sep 04 02:40:18 2013 +0000
Revision:
2:6692f0d33ca2
Parent:
1:86532e86498d 
jum---

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akudohune 0:7269a89e1d57 1 #include "mbed.h"
akudohune 0:7269a89e1d57 2 #include "ColorSensor.h"
akudohune 0:7269a89e1d57 3
yusuke_robocup 1:86532e86498d 4 ColorSensor color(p20, p17, p18, p19, 10);
akudohune 0:7269a89e1d57 5 //ColorSensor color = ColorSensor();
akudohune 0:7269a89e1d57 6 Serial pc(USBTX, USBRX); // tx, rx
akudohune 0:7269a89e1d57 7
OGA 2:6692f0d33ca2 8 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
OGA 2:6692f0d33ca2 9 DigitalOut air[2]={p21,p22};
OGA 2:6692f0d33ca2 10
akudohune 0:7269a89e1d57 11 int main()
akudohune 0:7269a89e1d57 12 {
akudohune 0:7269a89e1d57 13 unsigned R, G, B;
yusuke_robocup 1:86532e86498d 14 double color_sum;
yusuke_robocup 1:86532e86498d 15 double redp,greenp,bluep;
akudohune 0:7269a89e1d57 16 //pc.baud(115200);
OGA 2:6692f0d33ca2 17 air[0] = 0; air[1] = 1;
OGA 2:6692f0d33ca2 18
akudohune 0:7269a89e1d57 19 while(1)
akudohune 0:7269a89e1d57 20 {
akudohune 0:7269a89e1d57 21 color.getRGB(R, G, B);
yusuke_robocup 1:86532e86498d 22
yusuke_robocup 1:86532e86498d 23 color_sum = (R * 0.65) + G + (B * 1.3);
yusuke_robocup 1:86532e86498d 24
yusuke_robocup 1:86532e86498d 25 redp = (double)(R * 0.65)/color_sum * 100;
yusuke_robocup 1:86532e86498d 26 greenp = (double)G/color_sum * 100;
yusuke_robocup 1:86532e86498d 27 bluep = (double)(B * 1.3)/color_sum * 100;
yusuke_robocup 1:86532e86498d 28
OGA 2:6692f0d33ca2 29 pc.printf("R:%lf G:%lf B:%lf\n", redp, greenp, bluep);
OGA 2:6692f0d33ca2 30
OGA 2:6692f0d33ca2 31
OGA 2:6692f0d33ca2 32 if(redp >= 55){
OGA 2:6692f0d33ca2 33 led[0] = 1; led[1] = 1; led[2] = 1; led[3] = 1;
OGA 2:6692f0d33ca2 34 air[0] = 1; air[1] = 0;
OGA 2:6692f0d33ca2 35 wait(0.5);
OGA 2:6692f0d33ca2 36 led[0] = 0; led[1] = 0; led[2] = 0; led[3] = 0;
OGA 2:6692f0d33ca2 37 air[0] = 0; air[1] = 1;
OGA 2:6692f0d33ca2 38 wait(2);
OGA 2:6692f0d33ca2 39 }else{
OGA 2:6692f0d33ca2 40 led[0] = 0; led[1] = 0; led[2] = 0; led[3] = 0;
OGA 2:6692f0d33ca2 41 }
OGA 2:6692f0d33ca2 42
OGA 2:6692f0d33ca2 43
akudohune 0:7269a89e1d57 44 /*
akudohune 0:7269a89e1d57 45 switch(color.judge()){
akudohune 0:7269a89e1d57 46 case RED: pc.printf("RED\n"); break;
akudohune 0:7269a89e1d57 47 case GREEN: pc.printf("GREEN\n"); break;
akudohune 0:7269a89e1d57 48 case BLUE: pc.printf("BLUE\n"); break;
akudohune 0:7269a89e1d57 49 default: break;
akudohune 0:7269a89e1d57 50 }
akudohune 0:7269a89e1d57 51 */
yusuke_robocup 1:86532e86498d 52 //wait_ms(5);
akudohune 0:7269a89e1d57 53 }
akudohune 0:7269a89e1d57 54 }