Rahul Shetty / Mbed 2 deprecated FollowMeBot3

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 FollowMeBot by richard choy

Diff: main.cpp

Revision:
6:e97ac3fb8ac5
Parent:
5:5fe2f8603be8
Child:
7:41b5307e4c03
--- 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;
+    }
+}