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Commit 55b21026 authored by Daniel Ye's avatar Daniel Ye
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Initial testing code

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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
{
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// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}
{
"files.associations": {
"optional": "cpp",
"istream": "cpp",
"ostream": "cpp",
"system_error": "cpp",
"array": "cpp",
"functional": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp"
}
}
\ No newline at end of file
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[env:nucleo_f401re]
platform = ststm32
board = nucleo_f401re
framework = arduino
monitor_speed = 115200
monitor_eol = LF
monitor_echo = yes
lib_deps =
Wire
SPI
https://github.com/adafruit/Adafruit_TCS34725.git
#include <Arduino.h>
#include <Wire.h>
#include "Adafruit_TCS34725.h"
#define MOTOR_PIN_1 D6
#define MOTOR_PIN_2 D5
#define DEBOUNCE_TIME_MS 50
// mode 0(default) - break, 1 - coast
void motorForward(int speed, bool mode = 0);
void motorBackwards(int speed, bool mode = 0);
// Color sensor
// Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);
bool forward = false;
bool prev_button_state = true; // nominal high
int prev_button_press_time = 0;
void setup() {
Serial.begin(115200);
pinMode(A0, INPUT_ANALOG);
pinMode(MOTOR_PIN_1, OUTPUT);
pinMode(MOTOR_PIN_2, OUTPUT);
pinMode(USER_BTN, INPUT);
// Color sensor setup
// if (tcs.begin()) {
// //Serial.println("Found sensor");
// } else {
// Serial.println("No TCS34725 found ... check your connections");
// while (1); // halt!
// }
}
void loop() {
bool current_button_state = digitalRead(USER_BTN);
// Trigger on falling edge
if(prev_button_state && !current_button_state && (millis() - prev_button_press_time > DEBOUNCE_TIME_MS)) {
forward = !forward;
prev_button_press_time = millis();
Serial.print("Pressed: ");
Serial.println(forward);
}
prev_button_state = current_button_state;
int motor_speed = map(analogRead(A0), 0, 1023, 0, 255);
// Serial.println(motor_speed);
if (forward) {
motorForward(motor_speed);
} else {
motorBackwards(motor_speed);
}
// Color sensor code
// float red, green, blue;
// tcs.setInterrupt(false); // turn on LED
// delay(60); // takes 50ms to read
// tcs.getRGB(&red, &green, &blue);
// tcs.setInterrupt(true); // turn off LED
// Serial.print("R:"); Serial.print(int(red));
// Serial.print("\tG:"); Serial.print(int(green));
// Serial.print("\tB:"); Serial.print(int(blue));
// Serial.print("\n");
}
void motorForward(int speed, bool mode) {
if (!mode) {
// Break
analogWrite(MOTOR_PIN_2, 255);
analogWrite(MOTOR_PIN_1, speed);
} else {
// Coast
analogWrite(MOTOR_PIN_2, 0);
analogWrite(MOTOR_PIN_1, 255-speed);
}
Serial.print("Forward: ");
Serial.print(speed);
Serial.print(" ");
Serial.println(mode);
}
void motorBackwards(int speed, bool mode) {
if (!mode) {
// Break
analogWrite(MOTOR_PIN_1, 255);
analogWrite(MOTOR_PIN_2, speed);
} else {
// Coast
analogWrite(MOTOR_PIN_1, 0);
analogWrite(MOTOR_PIN_2, 255-speed);
}
Serial.print("Backwards: ");
Serial.print(speed);
Serial.print(" ");
Serial.println(mode);
}
\ No newline at end of file
This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
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