main.cpp

00001 #include "mbed.h"
00002 #include "XNucleo53L0A1.h"
00003 #include "TCS3200.h"
00004 #include <stdio.h>
00005 
00006 #define VL53L0_I2C_SDA   D4
00007 #define VL53L0_I2C_SCL   D5
00008 
00009 #define NOT_RECEIVE 0
00010 #define RED_RECEIVE 1
00011 #define BLUE_RECEIVE 2
00012 #define YELLOW_RECIEVE 3
00013 
00014 
00015 TCS3200 color(PB_5, PB_2, PC_4);//カラーセンサ
00016 static XNucleo53L0A1 *board=NULL;
00017 int count = 0;
00018 int red_count = 0;
00019 int blue_count = 0;
00020 int mode = NOT_RECEIVE;
00021 
00022 int main(){
00023     long red, green, blue, clear;
00024     int status;
00025     uint32_t distance;
00026     DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
00027     board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
00028     status = board->init_board();
00029     if (status) {
00030         printf("Failed to init board!\r\n");
00031         return 0;
00032     }
00033    while (1) {
00034         status = board->sensor_centre->get_distance(&distance);
00035         red = color.ReadRed();
00036         blue = color.ReadBlue();
00037         clear = color.ReadClear();
00038         if(clear <= 30 && distance <= 1000){
00039             count++;
00040         }
00041         if(count >= 1000){
00042             if(red <= 40 && green >= 80 && blue >= 70){
00043                 red_count++;
00044             }else if(red >= 80 && green >= 60 && blue <= 40){
00045                 blue_count++;
00046             }
00047             count = 0;
00048         }
00049         if(red_count >= 1000 && distance >= 2000){
00050             mode = RED_RECEIVE;
00051             red_count = 0;
00052         }else if(blue_count >= 1000 && distance >= 2000){
00053             mode = BLUE_RECEIVE;
00054             blue_count = 0;
00055         }    
00056     }
00057 }