pierre masala
Mearm colorsorting with web application
Diff: main.cpp
- Revision:
- 7:3b1ce80e424c
- Parent:
- 6:60ab0d214512
--- a/main.cpp Thu Dec 14 13:24:01 2017 +0000
+++ b/main.cpp Tue Jan 30 10:53:08 2018 +0000
@@ -7,45 +7,57 @@
#include "TCPServer.h"
#include "TCPSocket.h"
#include "Servo.h"
-uint8_t http[1024];
+#include "TCS3200.h"
+
+TCS3200 color(PF_6, PF_7, PF_8, PF_9, PA_0); //Create a TCS3200 object
+ // S0 S1 S2 S3 OUT
+
+uint8_t httpr1[1024]={200,200};
uint8_t httpr[1024]={200,200};
-uint8_t httpr1[300]={2,2,2,2};
-//static void SendWebPage( float ,float ,float , float );
+int colour();
+Servo Servo1(PD_15);
+Servo Servo2(PD_12);
+Servo Servo3(PD_13);
+Servo Servo4(PD_14);
-
+int pos1 =0,pos2=0,pos4=0,pos3=0;
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+
int main()
{
- Servo Servo1(PD_13);
- Servo Servo2(PD_12);
- Servo Servo3(PD_14);
- Servo Servo4(PD_15);
+
- Servo1.Enable(1500,20000);
- Servo2.Enable(1500,20000);
- Servo3.Enable(1500,20000);
+ Servo1.Enable(0,20000);
+ Servo2.Enable(0,20000);
+ Servo3.Enable(0,20000);
+ Servo4.Enable(0,20000);
+ pos3=2500;
+ Servo3.SetPosition(pos3);
+ wait_ms(10);
+ pos1=950;
+ Servo1.SetPosition(pos1);
+ wait_ms(10);
+ pos2=600;
+ Servo2.SetPosition(pos2);
+ wait_ms(10);
+ pos4=600;
+ Servo4.SetPosition(pos4);
+ wait_ms(10);
- int pos,i=0,a=0,a1=0;
- printf("Basic HTTP server example\n");
-
-
+ int pos,i=0,a=0,a1=0,x=0;
+ printf("Pierre Program\n");
EthernetInterface eth;
eth.connect();
-
printf("The target IP address is '%s'\n", eth.get_ip_address());
-
TCPServer srv;
-
TCPSocket clt_sock;
-
SocketAddress clt_addr;
-
-
/* Open the server on ethernet stack */
srv.open(ð);
-
-
/* Bind the HTTP port (TCP 80) to the server */
//srv.bind(eth.get_ip_address(), 80);
srv.bind(eth.get_ip_address(), 5001);
@@ -58,16 +70,8 @@
while (true) {
//==========================
- for ( pos = 500; pos < 2000; pos += 25)
- {
- Servo1.SetPosition(pos);
- httpr[i]=8;
- wait_ms(20);
- i++;
- }
-
- //i=0;
- // SendWebPage(pos,v2,v3,v4);
+
+
srv.accept(&clt_sock, &clt_addr);
printf("accept %s:%d\n", clt_addr.get_ip_address(), clt_addr.get_port());
a = clt_sock.send(httpr, strlen((char *)httpr));
@@ -82,6 +86,237 @@
}
clt_sock.close();
printf("accept voir %d\n",httpr1[0]);
+
+ switch(httpr1[0])
+ {
+ case 49:
+ //===================
+
+ for ( pos2 = 600; pos2 <= 2000; pos2 += 25)
+ {
+ Servo2.SetPosition(pos2);
+ wait_ms(10);
+ }
+ wait_ms(1000);
+
+ for ( pos3 = 2500; pos3 >= 1650; pos3 -= 25)
+ {
+ Servo3.SetPosition(pos3);
+ wait_ms(10);
+ }
+ wait_ms(1000);
+
+ for ( pos1 = 950; pos1 <= 1650; pos1 += 25)
+ {
+ Servo1.SetPosition(pos1);
+ wait_ms(10);
+ }
+
+ wait_ms(1000);
+ for ( pos4 = 600; pos4 <= 2000; pos4 += 25)
+ {
+ Servo4.SetPosition(pos4);
+ wait_ms(10);
+ if(pos4==2000)
+ {
+ pos1=950;
+ Servo1.SetPosition(pos1);
+ wait_ms(1000);
+ pos3=2500;
+ Servo3.SetPosition(pos3);
+ wait_ms(1000);
+
+ }
+ }
+
+ for ( pos2 = 2000; pos2 <= 2600; pos2 += 25)
+ {
+ Servo2.SetPosition(pos2);
+ wait_ms(10);
+ }
+ wait_ms(1000);
+
+
+ for ( pos3 = 2500; pos3 >= 1650; pos3 -= 25)
+ {
+ Servo3.SetPosition(pos3);
+ wait_ms(10);
+ }
+ wait_ms(1000);
+
+ for ( pos1 = 950; pos1 <= 1650; pos1 += 25)
+ {
+ Servo1.SetPosition(pos1);
+ wait_ms(10);
+ }
+
+ // ==sensor
+ if(colour()== 1)
+ {
+ printf("RED\n");
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 1;
+ pos2=600;
+ strcpy((char *)httpr, (char *)"R");
+
+ }
+ else
+ {
+ if(colour() == 2)
+ {
+ printf("GREEN\n");
+ myled1 = 1;
+ myled2 = 0;
+ myled3 = 0;
+ pos2=900;
+ strcpy((char *)httpr, (char *)"G");
+ }
+ if(colour() == 3)
+ {
+ printf("BLUE\n");
+ myled1 = 0;
+ myled2 = 1;
+ myled3 = 0;
+
+ pos2=1010;
+ strcpy((char *)httpr, (char *)"B");
+
+
+ }
+ }
+
+ Servo2.SetPosition(pos2);
+ wait_ms(1000);
+ //======
+
+
+ pos1=950;
+ Servo1.SetPosition(pos1);
+ wait_ms(1000);
+ pos3=2500;
+ Servo3.SetPosition(pos3);
+ wait_ms(1000);
+ pos2=600;
+ Servo2.SetPosition(pos2);
+ wait_ms(1000);
+
+
+ for ( pos3 = 2500; pos3 >= 1650; pos3 -= 25)
+ {
+ Servo3.SetPosition(pos3);
+ wait_ms(10);
+ }
+ wait_ms(1000);
+
+ for ( pos1 = 950; pos1 <= 1650; pos1 += 25)
+ {
+ Servo1.SetPosition(pos1);
+ wait_ms(10);
+ if(pos1==2050)
+ {
+ pos4=1400;
+ Servo4.SetPosition(pos4);
+ wait_ms(10);
+ }
+ }
+ pos1 =950;
+ Servo1.SetPosition(pos1);
+ wait_ms(1000);
+
+ pos3=2500;
+ Servo3.SetPosition(pos3);
+ wait_ms(1000);
+
+ //===================
+ break;
+ case 50:
+ //===================
+ // move_3();
+ pos3=2500;
+ Servo3.SetPosition(pos3);
+ wait_ms(10);
+ pos1=950;
+ Servo1.SetPosition(pos1);
+ wait_ms(10);
+ pos2=600;
+ Servo2.SetPosition(pos2);
+ wait_ms(10);
+ pos4=600;
+ Servo4.SetPosition(pos4);
+ wait_ms(10);
+ strcpy((char *)httpr, (char *)"M2");
+ //===================
+ break;
+ case 51:
+ //=====================
+ // move_1();
+ strcpy((char *)httpr, (char *)"M3");
+ //=====================
+ break;
+ case 52:
+ //=========================
+ // move_4();
+ strcpy((char *)httpr, (char *)"M4");
+ //=========================
+ break;
+ }
}
-}
\ No newline at end of file
+}
+int colour()
+{
+ color.SetMode(TCS3200::SCALE_100);
+ long red, green, blue, clear;
+ int r = 0,g = 0, b =0 ;
+ for(int c=0 ; c < 10; c++)
+{
+
+ red = color.ReadRed();
+ green = color.ReadGreen();
+ blue = color.ReadBlue();
+ clear = color.ReadClear();
+
+ if((red < blue) && (red < green))
+ {
+ r++; // red
+ }
+ if((green < blue) && (green < red))
+ {
+ g++;//green
+ }
+ if(blue < red && blue < green)
+ {
+ b++;//blue
+ }
+
+}
+
+ if((r > b) && (r > g))
+ {
+ return 1; //red
+ }
+ else
+ {
+ if(g > b && g > r)
+ {
+ return 2; //green
+ }
+ else
+ {
+ if(b > g && b > r)
+ {
+ return 3;
+ }
+ else
+ {
+ return 4;
+ }
+ //blue
+
+ }
+
+
+ }
+
+}