#include "mbed.h"
#include "MCP23017.h"
#include "WattBob_TextLCD.h"
#include "TCS3472_I2C.h"
#include "stdint.h"
#include "VL6180.h"
#include "rtos.h"
#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
#define IDENTIFICATIONMODEL_ID 0x0000
MCP23017 *par_port;
WattBob_TextLCD *lcd;
TCS3472_I2C rgb_sensor(p9, p10);//9:data
VL6180 TOF_sensor(p28, p27);//28:data
DigitalIn Ain(p21);
DigitalIn Bin(p22);
DigitalIn Cin(p23);
DigitalIn Din(p24);
DigitalOut led(LED1);
DigitalOut Servo1a(p5);
DigitalOut Servo1b(p6);
DigitalOut Servo2a(p11);
DigitalOut Servo2b(p12);
DigitalOut Servo3a(p13);
DigitalOut Servo3b(p14);
DigitalOut Servo4(p15);
DigitalOut Servo5(p20);
Serial pc(USBTX, USBRX);
Thread thread1;
Thread thread2;
Thread thread3;
Thread thread4;
Thread thread5;
Thread thread6;
Thread thread7;
InterruptIn Ein(p18);
void test()
{
led = !led;
wait(1);
pc.printf("2");
thread1.terminate( );
thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
pc.printf("3");
//goto L;
//c = 'f';
//p = true;
}
void servo1_thread()
{
while (true)
{
Thread::signal_wait(0x001);
Servo1a = 0;
Servo1b = 1;
wait(0.2);
Servo1a = 1;
}
}
void servo2_thread()
{
while (true)
{
Thread::signal_wait(0x010);
Servo1a = 1;
Servo1b = 0;
wait(0.2);
Servo1a = 0;
}
}
void servo3_thread()
{
while (true)
{
Thread::signal_wait(0x011);
while(1)
{
Servo2a = 0;
Servo2b = 0;
wait(1);
Servo2a = 1;
Servo2b = 1;
wait(1);
}
}
}
void servo4_thread()
{
while (true)
{
Thread::signal_wait(0x011);
while(1)
{
Servo3a = 0;
Servo3b = 0;
wait(1);
Servo3a = 1;
Servo3b = 1;
wait(1);
}
}
}
void servo5_thread()
{
while (true)
{
Thread::signal_wait(0x100);
while(1)
{
Servo2a = 0;
Servo2b = 0;
wait(2);
Servo2a = 1;
Servo2b = 1;
wait(2);
}
}
}
void servo6_thread()
{
while (true)
{
Thread::signal_wait(0x100);
while(1)
{
Servo3a = 0;
Servo3b = 0;
wait(2);
Servo3a = 1;
Servo3b = 1;
wait(2);
}
}
}
void servo7_thread()
{
while (true)
{
Thread::signal_wait(0x101);
Servo5 = 0;
wait(0.5);
Servo5 = 1;
wait(0.5);
Servo5 = 0;
Servo4 = 0;
wait(0.5);
Servo4 = 1;
wait(0.5);
Servo4 = 0;
}
}
int main()
{
uint8_t dist;
TOF_sensor.VL6180_Init();
par_port = new MCP23017(p9, p10, 0x40);
par_port->config(0x0F00, 0x0F00, 0x0F00);
BACK_LIGHT_ON(par_port);
int rgb_readings[4];
rgb_sensor.enablePowerAndRGBC();
rgb_sensor.setIntegrationTime(100);
char c = '/';
while(1)
{
//Distance Sensor
// while(1)
// {
// c = pc.getc();
// if(c == 's')
// {
// dist = TOF_sensor.getDistance();
// dist /= 10;
// wait(3);
// pc.printf("%d", dist);
// }
// if(c == 'o')
// break;
// }
// //Photoelectric Sensor
// //Special Ain
// while(1)
// {
// c = pc.getc();
// if(c == '1')
// {
// if(Ain==1&&Bin==0&&Cin==0&&Din==0)
// pc.printf("1");
// if(Ain==1&&Bin==0&&Cin==0&&Din==1)
// pc.printf("2");
// if(Ain==1&&Bin==0&&Cin==1&&Din==0)
// pc.printf("3");
// if(Ain==1&&Bin==0&&Cin==1&&Din==1)
// pc.printf("4");
// if(Ain==1&&Bin==1&&Cin==0&&Din==0)
// pc.printf("5");
// if(Ain==1&&Bin==1&&Cin==0&&Din==1)
// pc.printf("6");
// if(Ain==1&&Bin==1&&Cin==1&&Din==0)
// pc.printf("7");
// if(Ain==1&&Bin==1&&Cin==1&&Din==1)
// pc.printf("8");
// if(Ain==0&&Bin==0&&Cin==0&&Din==0)
// pc.printf("9");
// if(Ain==0&&Bin==0&&Cin==0&&Din==1)
// pc.printf("10");
// if(Ain==0&&Bin==0&&Cin==1&&Din==0)
// pc.printf("11");
// if(Ain==0&&Bin==0&&Cin==1&&Din==1)
// pc.printf("12");
// if(Ain==0&&Bin==1&&Cin==0&&Din==0)
// pc.printf("13");
// if(Ain==0&&Bin==1&&Cin==0&&Din==1)
// pc.printf("14");
// if(Ain==0&&Bin==1&&Cin==1&&Din==0)
// pc.printf("15");
// if(Ain==0&&Bin==1&&Cin==1&&Din==1)
// pc.printf("16");
// }
// if(c == '2')
// break;
// }
// //Color Sensor
// while(1)
// {
// c = pc.getc();
// if(c == 'a')
// {
// rgb_sensor.getAllColors(rgb_readings);
// if(rgb_readings[1]>rgb_readings[2]&&rgb_readings[1]>rgb_readings[3])
// {
// pc.printf("r");
// continue;
// }
// if(rgb_readings[2]>rgb_readings[1]&&rgb_readings[2]>rgb_readings[3])
// {
// pc.printf("g");
// continue;
// }
// if(rgb_readings[3]>rgb_readings[1]&&rgb_readings[3]>rgb_readings[2])
// {
// pc.printf("b");
// continue;
// }
// }
// if(c == 'b')
// {
// break;
// }
// }
//Servo
while(1)
{
thread1.start(servo1_thread);
thread2.start(servo2_thread);
thread3.start(servo3_thread);
thread4.start(servo4_thread);
thread5.start(servo5_thread);
thread6.start(servo6_thread);
Ein.rise(&test);
//while(1);
L: pc.printf("fasd");
c = pc.getc();
if(c == 'e')
{
thread5.start(servo5_thread);
thread6.start(servo6_thread);
thread5.signal_set(0x100);
thread6.signal_set(0x100);
}
if(c == 'h')
{
thread3.start(servo3_thread);
thread4.start(servo4_thread);
thread3.signal_set(0x011);
thread4.signal_set(0x011);
}
if(c == 'l')
{
thread1.signal_set(0x001);
}
if(c == 'r')
{
thread2.signal_set(0x010);
}
//if sensor detected
//Undo
if(c == 's')
{
thread1.terminate( );
thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
thread7.signal_set(0x101);
wait(6);
thread7.terminate( );
}
//C_sharp sent 'f' if time is up
if(c == 'f')
{
//Rotate the servo to reset the ball
thread1.terminate( );
thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
thread7.signal_set(0x101);
wait(6);
thread7.terminate( );
}
}
}
}
error2
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