Daniel Garcia
/
Arana
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main.cpp
- Committer:
- Getzeir
- Date:
- 2018-11-20
- Revision:
- 7:a0a38b2c99a2
- Parent:
- 6:8d7f6fe73ed1
File content as of revision 7:a0a38b2c99a2:
#include "mbed.h"
#include "main.h"
DigitalOut s0(PB_13);
DigitalOut s1(PB_14);
DigitalOut s2(PB_15);
DigitalOut s3(PB_1);
//DigitalIn out (PB_2);
DigitalOut LED(LED1);
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;
int main() {
init_servo();
//init_serial();
out.rise (&sensor);
bluetooth.baud(9600);
command.baud(9600);
wait (1);
}
//void init_serial()
//{
//}
void sensor()
{
unsigned int ROJO=0;
unsigned int VERDE=0;
unsigned int AZUL=0;
s0=1;
s1=0;
s2=0;
s3=0;
ROJO= lectura();
s2=0;
s3=1;
AZUL= lectura();
s2=1;
s3=1;
VERDE= lectura();
if (ROJO<VERDE && VERDE>AZUL && AZUL>ROJO)
{
command.printf("Color detectado: ROJO \n");
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);
}
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");
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(0x04,0x32);
wait(0.1);
mover_ser(0x03,0x3C);
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(0x05,0x00);
wait(0.1);
mover_ser(0x06,0x32);
wait(0.1);
mover_ser(0x05,0x3C);
wait(0.1);
mover_ser(0x02,0x5a);
wait(0.1);
mover_ser(0x04,0x5a);
wait(0.1);
mover_ser(0x06,0x5a);
wait(0.1);
mover_ser(0x08,0x5a);
wait(0.1);
}
else
{
if (value=='2')
{
LED=1;
wait(0.1);
LED=0;
wait(0.1);
}
else
{
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)
{
unsigned int inicio=0, final=0, resultado=0;
tiempo.start ();
while (out) {}
while (!out) {}
while (out) {}
inicio= tiempo.read_us();
while (!out) {}
final=tiempo.read_us();
resultado=(final-inicio);
tiempo.reset ();
return (resultado);
}