Diff: main.cpp

Revision:

0:be724809b234

diff -r 000000000000 -r be724809b234 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 31 20:43:32 2020 +0000
@@ -0,0 +1,191 @@
+#include "mbed.h"
+#include "VL53L0X.h"
+#include "TCS3200.h"
+
+////////////////////// Переменные для драйверов моторов.
+DigitalOut M1inA(PC_7);
+DigitalOut M1inB(PA_6);
+DigitalOut M1pwm(PB_6);
+DigitalOut M2inA(PA_12);
+DigitalOut M2inB(PA_11);
+DigitalOut M2pwm(PB_12);
+DigitalOut M12inA(PC_9);
+DigitalOut M12inB(PC_8);
+DigitalOut M12pwm(PA_7);
+
+int a = 1;
+
+
+#define ON 1;
+#define OFF 0;
+#define mPWM a;
+///////////////////////Переменные для дальномеров.
+
+ I2C         i2c(D14, D15);    
+ VL53L0X     vl_sensor(&i2c);
+ DigitalOut  vl_shutdown(PA_10);
+ 
+ 
+ 
+#define SDA_pin D14
+#define SCL_pin D15
+
+
+/////////////////////////////////////////////////////////
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+//////////////////////////  Для дальномеров.
+
+ void VL53L0X()
+ {
+   pc.printf("Single VL53L0X\n\n\r");
+  
+   vl_shutdown = 1;  //turn VL53L0X on
+   vl_sensor.init();
+   vl_sensor.setModeContinuous();
+   vl_sensor.startContinuous();
+   
+   for(int VL = 0; VL <= 5; VL++)
+   {
+     pc.printf("%4imm\n\r", vl_sensor.getRangeMillimeters());
+   }
+ }
+////////////////////////////////////Для датчиков цвета.
+
+ TCS3200 color(PH_0, PH_1, PC_2, PC_3, PA_15); 
+ //            S0    S1    S2     S3     OUT
+ 
+  void colors() {
+     long red, green, blue, clear;
+    
+     //Set the scaling factor to 100%
+     color.SetMode(TCS3200::SCALE_100);        
+ 
+     for(int TC = 0; TC <= 1; TC++) 
+     {
+         //Read the HIGH pulse width in nS for each color.
+         //The lower the value, the more of that color is detected 
+         red = color.ReadRed();
+         green = color.ReadGreen();
+         blue = color.ReadBlue();
+         clear = color.ReadClear();
+ 
+         printf("RED: %10d \n GREEN: %10d \n BLUE: %10d \n CLEAR: %10d \n_____________\n  ", red, green, blue, clear);
+            
+         wait(0.1);
+     }
+ }
+
+
+////////////////////////////////////Для драйверов моторов.
+    void rotate_right()
+        {
+            M1inA = ON;
+            M1inB = OFF;
+            M1pwm = mPWM;
+            //motor 1
+            M2inA = ON;
+            M2inB = OFF;
+            M2pwm = mPWM;
+            //motor 2
+            M12inA = ON;
+            M12inB = OFF;
+            M12pwm = mPWM;
+            //motor 3
+            pc.printf("\n rotate right \n");
+        }
+        
+    void rotate_left()
+        {
+            M1inA = OFF;
+            M1inB = ON;
+            M1pwm = mPWM;
+            //motor 1
+            M2inA = OFF;
+            M2inB = ON;
+            M2pwm = mPWM;
+            //motor 2
+            M12inA = OFF;
+            M12inB = ON;
+            M12pwm = mPWM;
+            //motor 3
+            pc.printf("\n rotate left \n");
+        }
+
+    void up()
+        {
+            M1inA = OFF;
+            M1inB = ON;
+            M1pwm = mPWM;
+            //motor 1
+            M2inA = ON;
+            M2inB = OFF;
+            M2pwm = mPWM;
+            //motor 2
+            M12inA = OFF;
+            M12inB = ON;
+            M12pwm = OFF;
+            //motor 3
+            pc.printf("\n up \n");
+        }
+
+    void left()
+        {
+            M1inA = ON;
+            M1inB = OFF;
+            M1pwm = mPWM;
+            //motor 1
+            M2inA = OFF;
+            M2inB = ON;
+            M2pwm = OFF; 
+            //motor 2
+            M12inA = OFF;
+            M12inB = ON;
+            M12pwm = mPWM;
+            //motor 3
+            pc.printf("\n left \n");
+        }
+        
+    void right()
+        {
+            M1inA = ON;
+            M1inB = OFF;
+            M1pwm = OFF;
+            //motor 1
+            M2inA = OFF;
+            M2inB = ON;
+            M2pwm = mPWM;
+            //motor 2
+            M12inA = ON;
+            M12inB = OFF;
+            M12pwm = mPWM;
+            //motor 3
+            pc.printf("\n right \n");
+        }                                                       
+    /////////////////////////////////////////////////////////////
+    
+    int main()
+    {
+        while(1) {
+        rotate_right();
+        VL53L0X();
+        colors();
+        wait(5);
+        rotate_left();
+        VL53L0X();
+        colors();
+        wait(5);
+        up();
+        VL53L0X();
+        colors();
+        wait(5);
+        left();
+        VL53L0X();
+        colors();
+        wait(5);
+        right();
+        VL53L0X();
+        colors();
+        }
+    } 
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