Daniel Garcia
/
Arana
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Diff: main.cpp
- Revision:
- 7:a0a38b2c99a2
- Parent:
- 6:8d7f6fe73ed1
--- a/main.cpp Sat Nov 10 22:41:02 2018 +0000
+++ b/main.cpp Tue Nov 20 01:46:23 2018 +0000
@@ -5,203 +5,57 @@
DigitalOut s1(PB_14);
DigitalOut s2(PB_15);
DigitalOut s3(PB_1);
- DigitalIn out (PB_2);
-
+ //DigitalIn out (PB_2);
DigitalOut LED(LED1);
- InterruptIn pulse(PC_13);
- float retardo = 0;
-
-
-void ISR_Poff()
- {
-
- retardo = (0.05);
-
- }
-
-
-
+ Serial bluetooth(PA_0, PA_1);
+ Serial command(USBTX, USBRX);
+
+ InterruptIn out (PB_2);
+ //nterruptIn salto(PB_6);
Timer tiempo;
+ char value;
unsigned int lectura (void);
+ unsigned int ROJO=0;
+ unsigned int VERDE=0;
+ unsigned int AZUL=0;
-Serial command(USBTX, USBRX);
+
+
int main() {
+
init_servo();
- init_serial();
- pulse.fall (&ISR_Poff);
-
- debug_m("inicio \n");
- uint32_t read_cc;
- while(1)
- {
- LED = !LED;
- wait (retardo);
-
- read_cc=read_command();
-
- switch (read_cc)
- {
- case 0x01: moving();
- break;
-
- case 0x02: movimiento();
- break;
-
- case 0x03: sensor();
- break;
-
- case 0x04: saludo();
- break;
-
- default: debug_m("error de comando.\n");
- break ;
- }
-
- }
-
-}
-
-
-
-uint32_t read_command()
-{
- char intc=command.getc();
-
- while(intc != 0xff)
- intc=command.getc();
- return command.getc();
-}
-
-
-
-void init_serial()
-{
- command.baud(9600);
-}
-
-
-void moving()
-{
- command.printf("se inicia el 1er comado mover servos..\n");
- char nmotor=command.getc();
- char grados=command.getc();
- char endc=command.getc();
- mover_ser(nmotor,grados);
- debug_m("Moviendo servos...\n");
-}
-
-
-void movimiento()
-{
- command.printf("se inicia el 2do comado mover patas..\n");
- char lado=command.getc();
- char movi=command.getc();
- char endc=command.getc();
+ //init_serial();
+ out.rise (&sensor);
+ bluetooth.baud(9600);
+ command.baud(9600);
+ wait (1);
- switch (lado)
- {
- case 0x01: switch (movi) //Pata Derecha_delantera
- {
- case 0x01: mover_ser(0x01,0x01);
- command.printf("moviendo pata derecha delantera arriba..\n");
- break;
-
- case 0x02: mover_ser(0x01,0x2d);
- command.printf("moviendo pata derecha delantera abajo..\n");
- break;
-
- case 0x03: mover_ser(0x02,0x5a);
- command.printf("moviendo pata izquierda delantera adelante..\n");
- break;
-
- case 0x04: mover_ser(0x02,0x0a);
- command.printf("moviendo pata izquierda delantera atras..\n");
- break;
- }
- break;
-
- case 0x02: switch (movi) //Pata Derecha_trasera
- {
- case 0x01: mover_ser(0x03,0x01);
- command.printf("moviendo pata derecha trasera arriba..\n");
- break;
-
- case 0x02: mover_ser(0x03,0x2d);
- command.printf("moviendo pata derecha trasera abajo..\n");
- break;
-
- case 0x03: mover_ser(0x04,0xaa);
- command.printf("moviendo pata derecha trasera adelante..\n");
- break;
-
- case 0x04: mover_ser(0x04,0x5a);
- command.printf("moviendo pata derecha trasera atras..\n");
- break;
- }
- break;
-
- case 0x03: switch (movi) //Pata Izquierda_delantera
- {
- case 0x01: mover_ser(0x05,0x01);
- command.printf("moviendo pata izquierda delantera arriba..\n");
- break;
-
- case 0x02: mover_ser(0x05,0x2d);
- command.printf("moviendo pata izquierda delantera abajo..\n");
- break;
-
- case 0x03: mover_ser(0x06,0x5a);
- command.printf("moviendo pata izquierda delantera adelante..\n");
- break;
-
- case 0x04: mover_ser(0x06,0xaa);
- command.printf("moviendo pata izquierda delantera atras..\n");
- break;
- }
- break;
-
- case 0x04: switch (movi) //Pata Izquierda_trasera
- {
- case 0x01: mover_ser(0x07,0x01);
- command.printf("moviendo pata izquierda trasera arriba..\n");
- break;
-
- case 0x02: mover_ser(0x07,0x2d);
- command.printf("moviendo pata izquierda trasera abajo..\n");
- break;
-
- case 0x03: mover_ser(0x08,0x0a);
- command.printf("moviendo pata izquierda trasera adelante..\n");
- break;
-
- case 0x04: mover_ser(0x08,0x5a);
- command.printf("moviendo pata izquierda trasera atras..\n");
- break;
- }
- break;
-
- default: debug_m("error de comando.\n");
- break ;
- }
- //debug_m("fin del comado guardar..\n");
-}
+ }
+
+//void init_serial()
+//{
+//}
+
+
+
+
+
+
+
void sensor()
{
- command.printf ("se inicia el 3er comando sensor de color..\n");
- char leer=command.getc();
- char endc=command.getc();
-
+
+
unsigned int ROJO=0;
unsigned int VERDE=0;
unsigned int AZUL=0;
- if(leer==0x01)
- {
- s0=1;
+
+ s0=1;
s1=0;
s2=0;
@@ -216,57 +70,114 @@
s3=1;
VERDE= lectura();
+
if (ROJO<VERDE && VERDE>AZUL && AZUL>ROJO)
{
command.printf("Color detectado: ROJO \n");
- command.printf("ADELANTE....\n");
-
- for(int x=0;x<5;x++)
- {
+ command.printf("EMOCIONADO!!!!....\n");
mover_ser(0x01,0x00);
- wait(0.1);
- mover_ser(0x02,0x32);
- wait(0.1);
+ mover_ser(0x03,0x00);
+ mover_ser(0x05,0x00);
+ mover_ser(0x07,0x00);
+ wait(0.3);
mover_ser(0x01,0x3c);
- wait(0.1);
- mover_ser(0x03,0x00);
- wait(0.1);
- mover_ser(0x04,0x5a);
- wait(0.1);
mover_ser(0x03,0x3c);
- wait(0.1);
- mover_ser(0x02,0x5a);
- wait(0.1);
- mover_ser(0x04,0x82);
- wait(0.1);
+ mover_ser(0x05,0x3c);
+ mover_ser(0x07,0x3c);
+ wait(0.3);
+ mover_ser(0x01,0x00);
+ mover_ser(0x03,0x00);
mover_ser(0x05,0x00);
- wait(0.1);
- mover_ser(0x06,0x82);
- wait(0.1);
- mover_ser(0x05,0x3c);
- wait(0.1);
mover_ser(0x07,0x00);
- wait(0.1);
- mover_ser(0x08,0x5a);
- wait(0.1);
+ wait(0.3);
+ mover_ser(0x01,0x3c);
+ mover_ser(0x03,0x3c);
+ mover_ser(0x05,0x3c);
mover_ser(0x07,0x3c);
- wait(0.1);
- mover_ser(0x06,0x5a);
- wait(0.1);
- mover_ser(0x08,0x32);
- wait(0.1);
+ wait(0.3);
+
- }
+
}
else
{
if (VERDE<AZUL && AZUL>ROJO && ROJO>VERDE)
{
command.printf("Color detectado: VERDE \n");
+ command.printf("HOLA!!!!....\n");
+ mover_ser(0x03,0x00);
+ mover_ser(0x07,0x00);
+ mover_ser(0x05,0x5a);
+ wait(0.1);
+ mover_ser(0x01,0x00);
+ wait(0.4);
+ mover_ser(0x02,0x5a);
+ wait(0.4);
+ mover_ser(0x02,0x0a);
+ wait(0.4);
+ mover_ser(0x02,0x5a);
+ wait(0.4);
+ mover_ser(0x02,0x0a);
+ wait(0.4);
+ mover_ser(0x02,0x5a);
+ wait(0.4);
+ mover_ser(0x01,0x3c);
+ mover_ser(0x03,0x3c);
+ mover_ser(0x07,0x3c);
+ mover_ser(0x05,0x3c);
+ wait(0.1);
+
+
+
+
+ }
+ else
+ {
+ if (AZUL<ROJO && ROJO>VERDE && VERDE>AZUL)
+ {
+ command.printf("Color detectado: AZUL \n");
+ command.printf("''GIRANDO''!!!!....\n");
+ mover_ser(0x01,0x00);
+ wait(0.3);
+ mover_ser(0x03,0x00);
+ wait(0.3);
+ mover_ser(0x07,0x00);
+ wait(0.3);
+ mover_ser(0x01,0x46);
+ wait(0.3);
+ mover_ser(0x05,0x00);
+ wait(0.3);
+ mover_ser(0x03,0x46);
+ wait(0.3);
+ mover_ser(0x01,0x00);
+ wait(0.3);
+ mover_ser(0x07,0x46);
+ wait(0.3);
+ mover_ser(0x03,0x00);
+ wait(0.3);
+ mover_ser(0x05,0x46);
+ mover_ser(0x01,0x46);
+ mover_ser(0x03,0x46);
+ mover_ser(0x07,0x46);
+ wait(0.3);
+
+ }
+ else
+ {
+ //command.printf("BLUETOOTH\n");
+ // while (ROJO>250 && VERDE>250 && AZUL>250)
+ //{
+ if (bluetooth.readable())
+ {
+ value = bluetooth.getc();
+ bluetooth.printf("Valor: %c \n", value);
+ wait(0.1);
+ command.printf("Valor: %c \n", value);
+ if (value=='1')
+ {
command.printf("ROTAR DERECHA\n");
- for(int x=0;x<5;x++)
- {
+
mover_ser(0x01,0x00);
wait(0.1);
mover_ser(0x02,0x32);
@@ -299,63 +210,99 @@
wait(0.1);
mover_ser(0x08,0x5a);
wait(0.1);
- }
- }
+ }
else
{
- if (AZUL<ROJO && ROJO>VERDE && VERDE>AZUL)
+ if (value=='2')
{
- command.printf("Color detectado: AZUL \n");
- command.printf("ATRAS....\n");
-
-
- for(int x=0;x<5;x++)
- {
- mover_ser(0x01,0x00);
- wait(0.2);
- mover_ser(0x02,0x5a);
- wait(0.2);
- mover_ser(0x01,0x3c);
- wait(0.2);
- mover_ser(0x03,0x00);
- wait(0.2);
- mover_ser(0x04,0x82);
- wait(0.2);
- mover_ser(0x03,0x3c);
- wait(0.2);
- mover_ser(0x02,0x32);
- wait(0.2);
- mover_ser(0x04,0x5a);
- wait(0.2);
- mover_ser(0x05,0x00);
- wait(0.2);
- mover_ser(0x06,0x5a);
- wait(0.2);
- mover_ser(0x05,0x3c);
- wait(0.2);
- mover_ser(0x07,0x00);
- wait(0.2);
- mover_ser(0x08,0x32);
- wait(0.2);
- mover_ser(0x07,0x3c);
- wait(0.2);
- mover_ser(0x06,0x82);
- wait(0.2);
- mover_ser(0x08,0x5a);
- wait(0.2);
-
- }
- }
+ LED=1;
+ wait(0.1);
+ LED=0;
+ wait(0.1);
+ }
else
{
- command.printf("otro color \n");
- }
- }
- }
-
- wait(0.5);
- }
+ if (value=='3')
+ {
+ command.printf("ADELANTE....\n");
+ mover_ser(0x01,0x00);
+ wait(0.1);
+ mover_ser(0x02,0x32);
+ wait(0.1);
+ mover_ser(0x01,0x3c);
+ wait(0.1);
+ mover_ser(0x03,0x00);
+ wait(0.1);
+ mover_ser(0x04,0x5a);
+ wait(0.1);
+ mover_ser(0x03,0x3c);
+ wait(0.1);
+ mover_ser(0x02,0x5a);
+ wait(0.1);
+ mover_ser(0x04,0x82);
+ wait(0.1);
+ mover_ser(0x05,0x00);
+ wait(0.1);
+ mover_ser(0x06,0x82);
+ wait(0.1);
+ mover_ser(0x05,0x3c);
+ wait(0.1);
+ mover_ser(0x07,0x00);
+ wait(0.1);
+ mover_ser(0x08,0x5a);
+ wait(0.1);
+ mover_ser(0x07,0x3c);
+ wait(0.1);
+ mover_ser(0x06,0x5a);
+ wait(0.1);
+ mover_ser(0x08,0x32);
+ wait(0.1);
+ }
+ else
+ {
+
+ if (value=='4')
+ {
+ command.printf("ATRAS....\n");
+ mover_ser(0x01,0x00);
+ wait(0.1);
+ mover_ser(0x02,0x5a);
+ wait(0.1);
+ mover_ser(0x01,0x3c);
+ wait(0.1);
+ mover_ser(0x03,0x00);
+ wait(0.1);
+ mover_ser(0x04,0x82);
+ wait(0.1);
+ mover_ser(0x03,0x3c);
+ wait(0.1);
+ mover_ser(0x02,0x32);
+ wait(0.1);
+ mover_ser(0x04,0x5a);
+ wait(0.1);
+ mover_ser(0x05,0x00);
+ wait(0.1);
+ mover_ser(0x06,0x5a);
+ wait(0.1);
+ mover_ser(0x05,0x3c);
+ wait(0.1);
+ mover_ser(0x07,0x00);
+ wait(0.1);
+ mover_ser(0x08,0x32);
+ wait(0.1);
+ mover_ser(0x07,0x3c);
+ wait(0.1);
+ mover_ser(0x06,0x82);
+ wait(0.1);
+ mover_ser(0x08,0x5a);
+ wait(0.1);
+ }
+ }}}}
}
+}
+}
+}
+//}
unsigned int lectura (void)
@@ -375,98 +322,4 @@
return (resultado);
-}
-
-
-void saludo (void)
-{
- char lado=command.getc();
- switch (lado)
- {
- case 0x01: command.printf("HOLA!!!!....\n");
- mover_ser(0x03,0x00);
- mover_ser(0x07,0x00);
- mover_ser(0x05,0x5a);
- wait(0.1);
- mover_ser(0x01,0x00);
- wait(0.4);
- mover_ser(0x02,0x5a);
- wait(0.4);
- mover_ser(0x02,0x0a);
- wait(0.4);
- mover_ser(0x02,0x5a);
- wait(0.4);
- mover_ser(0x02,0x0a);
- wait(0.4);
- mover_ser(0x02,0x5a);
- wait(0.4);
- mover_ser(0x01,0x3c);
- mover_ser(0x03,0x3c);
- mover_ser(0x07,0x3c);
- mover_ser(0x05,0x3c);
- wait(0.1);
- break;
-
- case 0x02: command.printf("EMOCIONADO!!!!....\n");
- mover_ser(0x01,0x00);
- mover_ser(0x03,0x00);
- mover_ser(0x05,0x00);
- mover_ser(0x07,0x00);
- wait(0.3);
- mover_ser(0x01,0x3c);
- mover_ser(0x03,0x3c);
- mover_ser(0x05,0x3c);
- mover_ser(0x07,0x3c);
- wait(0.3);
- mover_ser(0x01,0x00);
- mover_ser(0x03,0x00);
- mover_ser(0x05,0x00);
- mover_ser(0x07,0x00);
- wait(0.3);
- mover_ser(0x01,0x3c);
- mover_ser(0x03,0x3c);
- mover_ser(0x05,0x3c);
- mover_ser(0x07,0x3c);
- wait(0.3);
- break;
-
- case 0x03: command.printf("''GIRANDO''!!!!....\n");
- mover_ser(0x01,0x00);
- wait(0.3);
- mover_ser(0x03,0x00);
- wait(0.3);
- mover_ser(0x07,0x00);
- wait(0.3);
- mover_ser(0x01,0x46);
- wait(0.3);
- mover_ser(0x05,0x00);
- wait(0.3);
- mover_ser(0x03,0x46);
- wait(0.3);
- mover_ser(0x01,0x00);
- wait(0.3);
- mover_ser(0x07,0x46);
- wait(0.3);
- mover_ser(0x03,0x00);
- wait(0.3);
- mover_ser(0x05,0x46);
- mover_ser(0x01,0x46);
- mover_ser(0x03,0x46);
- mover_ser(0x07,0x46);
- wait(0.3);
- break;
-
-
- default: command.printf("error de comando.\n");
- break ;
- }
-
-
-}
-
-
-void debug_m(char *s , ... ){
- #if DEBUG
- command.printf(s);
- #endif
}
\ No newline at end of file