![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: main.cpp
- Revision:
- 11:bbddc908c78c
- Parent:
- 10:1f0cf0182067
- Child:
- 12:76c9915db820
- Child:
- 13:d4b5851742a3
diff -r 1f0cf0182067 -r bbddc908c78c main.cpp --- a/main.cpp Fri Apr 05 16:40:52 2013 +0000 +++ b/main.cpp Fri Apr 05 17:47:06 2013 +0000 @@ -36,33 +36,30 @@ 30: Color sensor BLUE LED */ - -#define P_SERVO_LOWER_ARM p5 -#define P_SERVO_UPPER_ARM p6 - -#define P_SERIAL_RX p14 -#define P_DISTANCE_SENSOR p15 - -#define P_COLOR_SENSOR_IN p20 - -#define P_MOT_RIGHT_A p21 -#define P_MOT_RIGHT_B p22 -#define P_MOT_LEFT_A p23 -#define P_MOT_LEFT_B p24 - -#define P_ENC_RIGHT_A p28 -#define P_ENC_RIGHT_B p27 -#define P_ENC_LEFT_A p25 -#define P_ENC_LEFT_B p26 - -#define P_COLOR_SENSOR_RED p29 -#define P_COLOR_SENSOR_BLUE p30 - - - #include "mbed.h" Serial pc(USBTX, USBRX); +const PinName P_SERVO_LOWER_ARM = p5; +const PinName P_SERVO_UPPER_ARM = p6; + +const PinName P_SERIAL_RX = p14; +const PinName P_DISTANCE_SENSOR = p15; + +const PinName P_COLOR_SENSOR_IN = p20; + +const PinName P_MOT_RIGHT_A = p21; +const PinName P_MOT_RIGHT_B = p22; +const PinName P_MOT_LEFT_A = p23; +const PinName P_MOT_LEFT_B = p24; + +const PinName P_ENC_RIGHT_A = p28; +const PinName P_ENC_RIGHT_B = p27; +const PinName P_ENC_LEFT_A = p25; +const PinName P_ENC_LEFT_B = p26; + +const PinName P_COLOR_SENSOR_RED = p29; +const PinName P_COLOR_SENSOR_BLUE = p30; + #include "Actuators/Arms/Arm.h" #include "Actuators/MainMotors/MainMotor.h" #include "Sensors/Encoders/Encoder.h" @@ -96,9 +93,9 @@ //motorsandservostest(); //armtest(); //motortestline(); - ledtest(); + //ledtest(); //phototransistortest(); - //ledphototransistortest(); + ledphototransistortest(); //colourtest(); // Red SnR too low cakesensortest(); } @@ -107,7 +104,7 @@ wait(1); pc.printf("cakesensortest"); - CakeSensor cs(p20); + CakeSensor cs(P_COLOR_SENSOR_IN); while(true){ wait(0.1); pc.printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm()); @@ -147,6 +144,12 @@ Serial pc(USBTX, USBRX); while(true){ + blue = 0; red = 0; + for(int i = 0; i != 5; i++){ + wait(0.1); + pc.printf("Phototransistor Analog is (none): %f \n\r", pt.read()); + } + blue = 1; red = 0; for(int i = 0; i != 5; i++){ wait(0.1); @@ -157,6 +160,11 @@ wait(0.1); pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read()); } + blue = 1; red = 1; + for(int i = 0; i != 5; i++){ + wait(0.1); + pc.printf("Phototransistor Analog is (both): %f \n\r", pt.read()); + } } }