Kirill Nik
EB
Dependencies: mbed TCS3200 VL53L0X
Revision 0:be724809b234, committed 2020-01-31
- Comitter:
- kirill164
- Date:
- Fri Jan 31 20:43:32 2020 +0000
- Commit message:
- Version1
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TCS3200.lib Fri Jan 31 20:43:32 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/grantphillips/code/TCS3200/#b98e768bc655
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VL53L0X.lib Fri Jan 31 20:43:32 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/joelvonrotz/code/VL53L0X/#ccc67c76fecb
--- /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();
+ }
+ }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Jan 31 20:43:32 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file