Mearm colorsorting with web application

Dependencies:   TCS3200

Files at this revision

API Documentation at this revision

Comitter:
pierre11
Date:
Tue Jan 30 10:53:08 2018 +0000
Parent:
6:60ab0d214512
Commit message:
MeARM +TCS3200

Changed in this revision

TCS3200.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
diff -r 60ab0d214512 -r 3b1ce80e424c TCS3200.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TCS3200.lib	Tue Jan 30 10:53:08 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/grantphillips/code/TCS3200/#b98e768bc655
diff -r 60ab0d214512 -r 3b1ce80e424c main.cpp
--- 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(&eth);
-    
-    
     /* 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
+            
+   }         
+
+
+   }
+
+}