Show page

Differences

This shows you the differences between two versions of the page.

--- pm:prj2023:danield:skittles-sorter [2023/05/21 21:15]
dragos.gorgovan [Descriere generală]
+++ pm:prj2023:danield:skittles-sorter [2023/05/30 17:48] (current)
dragos.gorgovan [Software Design]
@@ Line 12: / Line 12: @@
 ===== Hardware Design =====
-<note tip>
+Lista de piese:
-Aici puneţi tot ce ţine de hardware design:
+- placa ARDUINO UNO
-  * listă de piese
+- buton
-  * scheme electrice (se pot lua şi de pe Internet şi din datasheet-uri, e.g. http://www.captain.at/electronic-atmega16-mmc-schematic.png)
+- led RGB
-  * diagrame de semnal
+- senzor de miscare cu infrarosu adafruit 2168
-  * rezultatele simulării
+- servomotor 360
-</note>
+- senzor de culoare TCS 230
+- fire
+{{:pm:prj2023:danield:circuit_6969.jpg?500|}}
 ===== Software Design =====
@@ Line 31: / Line 33: @@
 </note>
+Biblioteci:
+- Servo.h pentru controlul servomotorului
+<hidden>
+Cod sursa:
+#include "usart.h"
+#include <Servo.h>
+#define BUTTON2 3
+#define BUTTON 12
+#define SERVO 11
+#define MOTION 10
+#define S0 4
+#define S2 6
+#define S3 7
+#define sensorOut 8
+#define maxColors 20
+#define noReads 10
+#define BLUE 13
+#define GREEN 9
+#define RED 5
+#define EPS 7
+struct color {
+  int r;
+  int g;
+  int b;
+};
+Servo myservo;
+volatile bool flag = false;
+int redFrequency = 0;
+int greenFrequency = 0;
+int blueFrequency = 0;
+color black_list[maxColors];
+int size = 0;
+volatile int state = 0;
+unsigned long last_rotation = 0;
+int min_r = 100000, min_g = 100000, min_b = 100000;
+int max_r = 0, max_g = 0, max_b = 0;
+ISR (PCINT0_vect) {
+  if (!digitalRead(MOTION)) {
+    flag = true;
+  }
+}
+void setMode()
+{
+  if (state == 0)
+    state = 1;
+}
+color read_color()
+{
+  color ret;
+  ret.r = 0;
+  ret.g = 0;
+  ret.b = 0;
+  for (int i = 0; i < noReads; i++)
+  {
+    digitalWrite(S2,LOW);
+    digitalWrite(S3,LOW);
+    // Reading the output frequency
+    ret.r += pulseIn(sensorOut, LOW);
+    // Setting GREEN (G) filtered photodiodes to be read
+    digitalWrite(S2,HIGH);
+    digitalWrite(S3,HIGH);
+    // Reading the output frequency
+    ret.g += pulseIn(sensorOut, LOW);
+    // Setting BLUE (B) filtered photodiodes to be read
+    digitalWrite(S2,LOW);
+    digitalWrite(S3,HIGH);
+    // Reading the output frequency
+    ret.b += pulseIn(sensorOut, LOW);
+    delay(10);
+  }
+  ret.r /= noReads;
+  ret.g /= noReads;
+  ret.b /= noReads;
+    Serial.print("R: ");
+    Serial.println(ret.r);
+    Serial.print("G: ");
+    Serial.println(ret.g);
+    Serial.print("B: ");
+    Serial.println(ret.b);
+    if (ret.r > max_r)
+      max_r = ret.r;
+    if (ret.r < min_r)
+      min_r = ret.r;
+    if (ret.g > max_g)
+      max_g = ret.g;
+    if (ret.g < min_g)
+      min_g = ret.g;
+    if (ret.b > max_b)
+      max_b = ret.b;
+    if (ret.b < min_b)
+      min_b = ret.b;
+    int redColor = map(ret.r, min_r, max_r, 255,0);
+    analogWrite(RED, redColor);
+    int blueColor = map(ret.b, min_b, max_b, 255,0);
+    analogWrite(BLUE, blueColor);
+    int greenColor = map(ret.g, min_g, max_g, 255,0);
+    analogWrite(GREEN, greenColor);
+  return ret;
+}
+void setup()
+{
+  USART0_init();
+  Serial.begin(9600);
+  USART0_print("Hello\n");
+  pinMode(BUTTON, 2);
+  pinMode(BUTTON2, 2);
+  pinMode(S0, OUTPUT);
+  pinMode(S2, OUTPUT);
+  pinMode(S3, OUTPUT);
+  pinMode(RED, OUTPUT);
+  pinMode(GREEN, OUTPUT);
+  pinMode(BLUE, OUTPUT);
+  analogWrite(RED,0);
+  analogWrite(GREEN,0);
+  analogWrite(BLUE,0);
+  pinMode(MOTION, INPUT_PULLUP);
+  // freq scaling 20%
+  digitalWrite(S0,HIGH);
+  myservo.attach(SERVO);
+  attachInterrupt(digitalPinToInterrupt(BUTTON2), setMode, FALLING);
+  PCICR |= B00000001; // We activate the interrupts of the PB port
+  PCMSK0 |= B00000100; // PB2
+}
+void loop()
+{
+  if (flag)
+  {
+    flag = false;
+    delay(2000);
+    color temp = read_color();
+    if (state == 1 && size < maxColors)
+    {
+      black_list[size].r = temp.r;
+      black_list[size].g = temp.g;
+      black_list[size].b = temp.b;
+      size++;
+      state = 0;
+      myservo.write(110);
+      delay(1200);
+      myservo.write(90);
+    }
+    else
+    {
+      bool blist = false;
+      for (int i = 0; i < size; i++)
+      {
+        if ((black_list[i].r- temp.r) * (black_list[i].r- temp.r) + (black_list[i].b - temp.b) * (black_list[i].b - temp.b)
+           + (black_list[i].g- temp.g) * (black_list[i].g- temp.g) <= EPS * EPS)
+          blist = true;
+      }
+      if (millis() - last_rotation > 2000)
+      {
+        last_rotation = millis();
+        if (blist)
+        {
+          myservo.write(110);
+          delay(1200);
+          myservo.write(90);
+        }
+        else
+        {
+          myservo.write(70);
+          delay(1200);
+          myservo.write(90);
+        }
+      }
+    }
+  }
+}
+</hidden>
 ===== Rezultate Obţinute =====