File content as of revision 2:a6b8baa4e4b7:

#include "mbed.h"
#include "stdint.h"
#include <string>
#include "MCP23017.h"
#include "WattBob_TextLCD.h"
#include "VL6180.h"

//Hyperterminal configuration
//9600 bauds, 8-bit data, no parity

//VL6180X defines

#define IDENTIFICATIONMODEL_ID 0x0000

VL6180  TOF_sensor(I2C_SDA, I2C_SCL);//距离的串口定义
DigitalOut myled0(LED2);

#define     BACK_LIGHT_ON(INTERFACE)    INTERFACE->write_bit(1,BL_BIT)
#define     BACK_LIGHT_OFF(INTERFACE)   INTERFACE->write_bit(0,BL_BIT)

MCP23017            *par_port;
WattBob_TextLCD     *lcd;
Serial STM2Android(PC_4,PC_5,9600);//上位机串口定义
I2C i2c1(PC_1, PC_0); //pins for I2C communication (SDA, SCL) 人颜色的串口定义
I2C i2c2(PB_14, PB_13); //机器人颜色的串口定义

DigitalOut d(PB_3);  //电机的第一位
DigitalOut j(PA_9);  //电机的第二位
DigitalOut k(PC_7);  //电机的第三位
DigitalOut a(PC_10);//红外的一
DigitalOut b(PC_12);//红外的二

int sensor_addr = 41 << 1;

char flag_Android[]="";
char flag_Android_1[]="begin";
char flag_Android_2[]="distance";
char Android_0[]="";
char Android_1='l';
char flag_Android_3[]="repair";
int main()
{   
    //int goal_1=0;//人类得分
//    int goal_2=0;//机器人得分
//    d=1;
//    j=1;
//    k=1;
//    int kehu=0;//客户类型
             d=1;
             j=1;
             k=1;
    uint8_t dist;//距离的值
      //julichuanganqi
    par_port = new MCP23017(I2C_SDA, I2C_SCL,0x0400);
    par_port->config(0x0F00, 0x0F00, 0x0F00);           // configure MCP23017 chip on WattBob
    lcd = new WattBob_TextLCD(par_port); 
      
    
 
 while(1)
 {
            int goal_1=0;//人类得分
            int goal_2=0;//机器人得分
            
             int kehu=0;//客户类型
       
            dist = TOF_sensor.getDistance();
            lcd->cls(); 
            lcd->locate(0,0);
            i2c1.frequency(100000);//修改为100000，否则报错
            i2c2.frequency(100000);
            
            char id_regval[1] = {146};
            char data[1] = {0};
            i2c1.write(sensor_addr,id_regval,1, true);
            i2c1.read(sensor_addr,data,1,false);
            i2c2.write(sensor_addr,id_regval,1, true);
            i2c2.read(sensor_addr,data,1,false);
              
            char timing_register[2] = {129,0};
            i2c1.write(sensor_addr,timing_register,2,false);
            i2c2.write(sensor_addr,timing_register,2,false);
    
            char control_register[2] = {143,0};
            i2c1.write(sensor_addr,control_register,2,false);
            i2c2.write(sensor_addr,control_register,2,false);
    
            char enable_register[2] = {128,3};
            i2c1.write(sensor_addr,enable_register,2,false);
            i2c2.write(sensor_addr,enable_register,2,false);
            // Read data from color sensor (Clear/Red/Green/Blue)
            
            char clear_reg[1] = {148};
            char clear_data1[2] = {0,0};
            char clear_data2[2] = {0,0};
            
            i2c1.write(sensor_addr,clear_reg,1, true);
            i2c1.read(sensor_addr,clear_data1,2, false);
            i2c2.write(sensor_addr,clear_reg,1, true);
            i2c2.read(sensor_addr,clear_data2,2, false);
        
            int clear_value1 = ((int)clear_data1[1] << 8) | clear_data1[0];
            int clear_value2 = ((int)clear_data2[1] << 8) | clear_data2[0];
            
            char red_reg[1] = {150};
            char red_data1[2] = {0,0};
            char red_data2[2] = {0,0};
        
            i2c1.write(sensor_addr,red_reg,1, true);
            i2c1.read(sensor_addr,red_data1,2, false);
            i2c2.write(sensor_addr,red_reg,1, true);
            i2c2.read(sensor_addr,red_data2,2, false);
        
            int red_value1 = ((int)red_data1[1] << 8) | red_data1[0];
            int red_value2 = ((int)red_data2[1] << 8) | red_data2[0];
        
            char green_reg[1] = {152};
            char green_data1[2] = {0,0};
            char green_data2[2] = {0,0};
            
            i2c1.write(sensor_addr,green_reg,1, true);
            i2c1.read(sensor_addr,green_data1,2, false);
            i2c2.write(sensor_addr,green_reg,1, true);
            i2c2.read(sensor_addr,green_data2,2, false);
        
            int green_value1 = ((int)green_data1[1] << 8) | green_data1[0];
            int green_value2 = ((int)green_data2[1] << 8) | green_data2[0];
        
            char blue_reg[1] = {154};
            char blue_data1[2] = {0,0};
            char blue_data2[2] = {0,0};
            
            i2c1.write(sensor_addr,blue_reg,1, true);
            i2c1.read(sensor_addr,blue_data1,2, false);
            i2c2.write(sensor_addr,blue_reg,1, true);
            i2c2.read(sensor_addr,blue_data2,2, false);
        
            int blue_value1 = ((int)blue_data1[1] << 8) | blue_data1[0];
            int blue_value2 = ((int)blue_data2[1] << 8) | blue_data2[0];
            // print sensor readings
            
            STM2Android.scanf("%s",&Android_0);//要给上位机传输dist以及用户识别
            if(strcmp(Android_0,flag_Android_2)==0)
               {
               //  if (a==0&&b==0) kehu=0;//用户识别 小孩
               // else if (a==0&&b==1) kehu=1;//青年
               //else if (a==1&&b==0) kehu=2;//老人
               //STM2Android.printf("x%d\r\n",kehu);
                    wait(3);
                   // if(dist<=180)
                        STM2Android.printf("e");//距离合适
               
          /*     else if(strcmp(Android_0,flag_Android_3)==0)//维护模式
               {
                   STM2Android.scanf("%c",&Android_1);
                   if(Android_1=='c')STM2Android.printf("dClear1(%d),Red1(%d),Green1(%d),Blue1(%d)\r\n", clear_value1, red_value1, green_value1, blue_value1);
                   else if(Android_1=='d')STM2Android.printf("dd=(%d)\r\n",dist);
                   else if(Android_1=='e')
                   {
                       d=0;j=0;k=0;//电机转动
                       wait(10);
                       d=1;j=1;k=1;//电机停止转动
                   }
               }
        */    
            wait(2);
            STM2Android.scanf("%s",&flag_Android);
         if(strcmp(flag_Android,flag_Android_1)==0)
         {
            wait(1);                                                     
            if ((red_value1>green_value1)&&(red_value1>blue_value1))     //shifoukeyiyizhichuanzhi???????????????
              {
                  STM2Android.printf("a3");//red+3
                  goal_1=3;
              }
           if ((green_value1>red_value1)&&(green_value1>blue_value1))     //shifoukeyiyizhichuanzhi???????????????
              {
                  STM2Android.printf("a2");//green+2
                  goal_1=2;
              }
           if ((blue_value1>green_value1)&&(blue_value1>red_value1))     //shifoukeyiyizhichuanzhi???????????????
              {
                  STM2Android.printf("a1");//blue+1
                  goal_1=1;
              }
            wait(1);
            d=0;j=0;k=0;//电机转动
            wait(5);
            d=1;j=1;k=1;//电机停止转动
            wait(1);
            
            if ((red_value2>green_value2)&&(red_value2>blue_value2))     //shifoukeyiyizhichuanzhi???????????????
              {
                  STM2Android.printf("b3");//red+3
                  goal_2=3;
              }
            if ((green_value2>red_value2)&&(green_value2>blue_value2))     //shifoukeyiyizhichuanzhi???????????????
              {
                  STM2Android.printf("b2");//green+2
                  goal_2=2;
              }
           if ((blue_value2>green_value2)&&(blue_value2>red_value2))   //shifoukeyiyizhichuanzhi???????????????
              {
                  STM2Android.printf("b1");//blue+1
                  goal_2=1;
              }     
              wait(1);
              
           if(goal_1>goal_2)
            {
                  STM2Android.printf("c1");//ren win
                  if(kehu==0)
                   {
                       d=0;
                       j=0;
                       k=1;
                       wait(5);
                       d=1;
                       j=1;
                       k=1;
                   }
                   else if(kehu==1)
                   {
                       d=0;
                       j=1;
                       k=0;
                   }
                   else if(kehu==2)
                   {
                       d=1;
                       j=0;
                       k=0;
                   }
            }
            
            //
            
           if(goal_1<=goal_2) 
                  STM2Android.printf("c0");//robot win       
         
        // STM2Android.printf("aClear(%d),Red(%d),Green(%d),Blue(%d),d=(%d)\r\n", clear_value, red_value, green_value, blue_value, dist);
        //STM2Android.printf("ad=(%d)\r\n",dist);     
       }//小if语句判断结束
     }//大if语句判断结束
     
     
     
        // else if(strcmp(Android_0,flag_Android_3)==0)//维护模式
//               {
//                   STM2Android.scanf("%c",&Android_1);
//                   if(Android_1=='c')STM2Android.printf("dClear1(%d),Red1(%d),Green1(%d),Blue1(%d)\r\n", clear_value1, red_value1, green_value1, blue_value1);
//                   else if(Android_1=='d')STM2Android.printf("dd=(%d)\r\n",dist);
//                   else if(Android_1=='e')
//                   {
//                       d=0;j=0;k=0;//电机转动
//                       wait(10);
//                       d=1;j=1;k=1;//电机停止转动
//                   }
//               }
       
 }//while循环结束
}