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The FollowMeBot follows the user based on the color of his or her shirt. The device hosts a webcam on a servo to find the object and orient the robot. The color is chosen through the user interface with push buttons. Currently, the MATLAB code supports red and green detection. The purpose of FollowMeBot is to be able to follow the user in order to be helpful for daily tasks.
Dependencies: Rectangle Servo TextLCD mbed
Fork of FollowMeBot3 by
Diff: main.cpp
- Revision:
- 6:e97ac3fb8ac5
- Parent:
- 5:5fe2f8603be8
- Child:
- 7:41b5307e4c03
diff -r 5fe2f8603be8 -r e97ac3fb8ac5 main.cpp --- a/main.cpp Fri Dec 06 16:59:07 2013 +0000 +++ b/main.cpp Fri Dec 06 18:04:28 2013 +0000 @@ -21,6 +21,8 @@ // Hardware sensors and devices DigitalOut myled(LED1); DigitalOut myled2(LED2); +DigitalOut greenLED(p29); +DigitalOut redLED(p28); iRobot followMeBot(p9, p10); Servo servoHor(p22); Servo servoVer(p21); @@ -29,6 +31,7 @@ //AnalogIn irSensorRight(p18); Serial pc(USBTX, USBRX); // tx, rx TextLCD lcd(p14, p16, p17, p18, p19, p20); // rs, e, d4-d7 +InterruptIn colorPB(p30); //float irVal = irSensorFront; @@ -41,18 +44,22 @@ (MAX_VIEW_X/2)+CENTER_BOX_TOLLERANCE,(MAX_VIEW_Y/2)+CENTER_BOX_TOLLERANCE); // Creates a box to examine if the camera is well enough centered int noColorCounter; // Counts how long it has been since we have seen a color to follow bool colorLost = true; // boolean to represent if the color is confirmed "lost" (aka noColorCounter > NO_COLOR_MAX_COUNT) +#define GREEN 0 +#define RED 1 +char color = GREEN; // Current color selected by the pushbutton // Function Prototypes void getXYpos(); float moveCamera(); void moveBot(); int servoIsInHome(); +void colorSelect(); int main() { followMeBot.start(); servoHor = .5; - + colorPB.fall(&colorSelect); while(1) { getXYpos(); moveBot(); @@ -192,3 +199,16 @@ return 0; } } + +void colorSelect(){ + color = !color; + pc.putc(color); + if(color == GREEN){ + greenLED = 1; + redLED = 0; + } + else{ + greenLED = 0; + redLED = 1; + } +}