From cd2641e74f29706d7a7c0458dc58f9d3cfd81956 Mon Sep 17 00:00:00 2001
From: Daniel Ye <danielye4@gmail.com>
Date: Sat, 7 Oct 2023 03:45:31 -0400
Subject: [PATCH] two color sensors test
---
include/settings.h | 9 +------
src/main.cpp | 60 ++++++++++++++++++++++++++--------------------
2 files changed, 35 insertions(+), 34 deletions(-)
diff --git a/include/settings.h b/include/settings.h
index 5bc71fb..3a867aa 100644
--- a/include/settings.h
+++ b/include/settings.h
@@ -1,20 +1,13 @@
// From top to bottom of motor driver (bottom is big capacitor)
-#define MOTOR_LEFT_PIN_2 D5
+#define MOTOR_LEFT_PIN_2 D3 // Not using D5 because it gets pulled high briefly on startup
#define MOTOR_LEFT_PIN_1 D6
#define MOTOR_RIGHT_PIN_2 D9
#define MOTOR_RIGHT_PIN_1 D10
-
-#define IR_SENSOR_LEFT_PIN A0
-#define IR_SENSOR_RIGHT_PIN A1
-
#define DEBOUNCE_TIME_MS 50
#define LEFT_MOTOR_SPEED 50
#define RIGHT_MOTOR_SPEED 50
-#define LEFT_IR_THRESHOLD 500
-#define RIGHT_IR_THRESHOLD 500
-
// mode 0(default) - break, 1 - coast
void motorLeftForward(int speed, bool mode = 0);
diff --git a/src/main.cpp b/src/main.cpp
index 9cd8ebc..81f2f59 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -4,8 +4,9 @@
#include "Adafruit_TCS34725.h"
// Color sensor
-// Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);
-
+Adafruit_TCS34725 color_sensor_left = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_24MS, TCS34725_GAIN_4X);
+Adafruit_TCS34725 color_sensor_right = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_24MS, TCS34725_GAIN_4X);
+TwoWire Wire2 = TwoWire(PC9, PA8); // I2C channel 3 for right sensor
bool forward = false;
bool prev_button_state = true; // nominal high
@@ -14,9 +15,6 @@ int prev_button_press_time = 0;
void setup() {
Serial.begin(115200);
- pinMode(IR_SENSOR_LEFT_PIN, INPUT_ANALOG);
- pinMode(IR_SENSOR_RIGHT_PIN, INPUT_ANALOG);
-
pinMode(MOTOR_LEFT_PIN_1, OUTPUT);
pinMode(MOTOR_LEFT_PIN_2, OUTPUT);
pinMode(MOTOR_RIGHT_PIN_1, OUTPUT);
@@ -24,12 +22,21 @@ void setup() {
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!
- // }
+ // Left sensor on pins SDA=D14 SCK=D15 (default I2C channel 1)
+ if (color_sensor_left.begin()) {
+ Serial.println("Found left color sensor");
+ } else {
+ Serial.println("Left color sensor not found");
+ while (1); // halt!
+ }
+
+ // Right sensor on pins SDA=PC9 SCK=PA8
+ if (color_sensor_right.begin(TCS34725_ADDRESS, &Wire2)) {
+ Serial.println("Found right color sensor");
+ } else {
+ Serial.println("Right color sensor not found");
+ while (1); // halt!
+ }
}
void loop() {
@@ -44,12 +51,6 @@ void loop() {
}
prev_button_state = current_button_state;
- // uint16_t ir_left_value = analogRead(IR_SENSOR_LEFT_PIN);
- // uint16_t ir_right_value = analogRead(IR_SENSOR_RIGHT_PIN);
- // Serial.print(ir_left_value);
- // Serial.print(" ");
- // Serial.println(ir_right_value);
-
// For testing motor
// int motor_speed = map(ir_left_value, 0, 1023, 0, 255);
@@ -80,16 +81,23 @@ void loop() {
// }
// 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
+ float red_left, green_left, blue_left, red_right, green_right, blue_right;
+ color_sensor_left.setInterrupt(false); // turn on LED
+ color_sensor_right.setInterrupt(false); // turn on LED
+ delay(24); // takes 24ms to read
+ color_sensor_left.getRGB(&red_left, &green_left, &blue_left);
+ color_sensor_right.getRGB(&red_right, &green_right, &blue_right);
+ color_sensor_left.setInterrupt(true); // turn off LED
+ color_sensor_right.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");
+ Serial.print("Left R:"); Serial.print(int(red_left));
+ Serial.print("\tG:"); Serial.print(int(green_left));
+ Serial.print("\tB:"); Serial.print(int(blue_left));
+ Serial.print("\t");
+ Serial.print("Right R:"); Serial.print(int(red_right));
+ Serial.print("\tG:"); Serial.print(int(green_right));
+ Serial.print("\tB:"); Serial.print(int(blue_right));
+ Serial.print("\n");
}
// Left motor
--
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