File content as of revision 0:3a98a198e6d1:

//5_1を通信用にカラーセンサだけに変えたプログラム
#include "mbed.h"
#include "ColorSensor.h"

#include "main.h"


void tic_sensor()
{

    //if(sw == 0)step=2;
    colorUpdate(step);
    
    /*lcd.cls();
    lcd.locate(0,0);
    lcd.printf("R:%d G:%d B:%d\n", redp[0], greenp[0], bluep[0]);
    */
}



////////////////////////////////////////カラーセンサの////////////////////////////////////////
////////////////////////////////////////補正プログラム////////////////////////////////////////
void rivisedate()
{
    unsigned long red = 0,green = 0,blue =0;
    static unsigned R[COLOR_NUM], G[COLOR_NUM], B[COLOR_NUM];
    
    //最初の20回だけ平均を取る
    for (int i=0;i<=20;i++){
         color0.getRGB(R[0],G[0],B[0]);
         red       += R[0] ;
         green     += G[0] ;
         blue      += B[0] ;
         //pc.printf(" %d  %d\n",ptm(sum),sum);
    }
    
    rir = (double)green/ red ;
    rib = (double)green/ blue ;
}

void colorUpdate(uint8_t mode)
{
    double colorSum[COLOR_NUM];
    unsigned R[COLOR_NUM], G[COLOR_NUM], B[COLOR_NUM];


    for (int i=0; i<COLOR_NUM; i++){
        R[i] = 0;
        G[i] = 0;
        B[i] = 0;
        redp[i]   = 0;
        greenp[i] = 0;
        bluep[i]  = 0;
    }
    
    //カラーセンサの切り替え    
    if(mode == 1){
        color0.getRGB(R[0],G[0],B[0]);
        color1.getRGB(R[1],G[1],B[1]);
        color2.getRGB(R[2],G[2],B[2]);
    }else{
        color3.getRGB(R[3],G[3],B[3]);
        color4.getRGB(R[4],G[4],B[4]);
        color5.getRGB(R[5],G[5],B[5]);
    }
    
    for (int i=0; i<COLOR_NUM; i++){
        colorSum[i] = R[i]*rir + G[i] + B[i]*rib ;
        redp[i]   = R[i]* rir * 100 / colorSum[i];
        greenp[i] = G[i]      * 100 / colorSum[i];
        bluep[i]  = B[i]* rib * 100 / colorSum[i];
    }
}

////////////////////////////////////////ジャンププログラム////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////
uint8_t jumpcondition()
{
    uint8_t threshold = 0, t[3] = {0};
    
    //青から赤に0.5秒以内に反応したらジャンプ
    for(int i=0; i<COLOR_NUM; i++){
        if(bluep[i] >= B_THR){
            color_t[i].reset();
            color_t[i].start();
            t[i] = 0;
        }else if(redp[i] >= R_THR){
            t[i] = color_t[i].read_ms();
        }else{
            t[i] = 0;
        }
 
        if((t[i] <= 500) && (t[i] != 0)){
            threshold++;
        }
    }
    
    return threshold;
}

/*
void jumping(uint8_t threshold)
{
    //超音波でジャンプのタイミング合わせる
    if(threshold >= 1){
            jump_t.reset();
            jump_t.start();
            while(ultrasonicVal[0] < 1700){
                led[0] = 1; led[1] = 1; led[2] = 0; led[3] = 0;
                air[0] = 1;  air[1] = 0;
                
                if(jump_t.read_ms() > 1000)break;
            }
            led[0] = 0; led[1] = 0; led[2] = 1; led[3] = 1;
            air[0] = 0;  air[1] = 1;
            wait(0.5);
    }else{
            led[0] = 0; led[1] = 0; led[2] = 0; led[3] = 0;
    }
}*/


uint8_t robostop()
{
    if(bluep[1] >= B_THR){
        return 1;
    }else{
        return 0;
    }
}








int main()
{
    rivisedate();

    timer2.start();
    ping_t.start();
    
        
    //unsigned R, G, B;
    int vl;
    double vs;
    uint8_t button, state=0;
    
    //pc.baud(115200);
    //air[0] = 0; air[1] = 1;
    step = 1;
    
    //compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
    //pidUpdata.attach(&PidUpdate, PID_CYCLE);
    interrupt0.attach(&tic_sensor, 0.05/*sec*/);//0.04sec以上じゃないとmain動かない
  
  while(1)
  {
    
    
    
    pc.printf("R:%d G:%d B:%d\n", redp[0], greenp[0], bluep[0]);
    /*
    lcd.cls();
    lcd.locate(0,0);
    lcd.printf("R:%d G:%d B:%d", redp[0][0], greenp[0][0], bluep[0][0]);
    lcd.locate(0,1);
    lcd.printf("R:%d G:%d B:%d", redp[1][0], greenp[1][0], bluep[1][0]);
     */
    //pc.printf("%d\n".., ultrasonicVal[0]);
    
    
    
    
    if(robostop() == 1) state = STOP;
    jumpcondition();
    

  }
}