arduino学习笔记34 - Arduino uno + Color sensor（颜色传感器）演示实验 - 第4页 - Arduino - 极客工坊

yhy1993226 发表于 2013-3-31 02:42:14

Randy 发表于 2013-3-29 10:00 static/image/common/back.gif
看一下你整体的程序控制，这些都是数字控制的没什么难度的！

#include <TimerOne.h> //引用TimerOne.h 库文件
#include <Servo.h> //舵机头文件
Servo myservo;
#define S0 6 //定义S0 为引脚6
#define S1 5 //定义S1 为引脚5
#define S2 4 //定义S2 为引脚4
#define S3 3 //定义S3 为引脚3
#define OUT 2 //定义OUT 为引脚2

int g_count = 0; // 定义整型变量g_count 并赋初值为0，用于存储计数频率
int g_array; // 定义整型数组变量g_array，用于存储RGB 的值
int g_flag = 0; // 定义整形变量g_flag 并赋初值为0，用于过滤器排列
float g_SF; // 定义浮点型数组变量g_SF，用于存储RGB 比例因子
int value; // 定义定义整型数组变量value，用于判断颜色

int IN1 = 32;
int IN2 = 33;
int IN3 = 36;
int IN4 = 37;
int IN5 = 38;
int IN6 = 39;
int IN7 = 42;
int IN8 = 43;
int ENA = 7;
int ENB = 10;
int ENC = 9;
int END = 8;

int val1=140;
int val2=140;             //speed
int val5=100;
int val6=100;
int val3=50;
int val4=0;
intred;
intblue;
intyellow;
intblack;
intwhite;

void advance(char a,char b) //前进
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
digitalWrite(IN5,HIGH);
digitalWrite(IN6,LOW);
digitalWrite(IN7,HIGH);
digitalWrite(IN8,LOW);
analogWrite(ENA,a); //PWM 调速
analogWrite(ENB,a); //PWM 调速
analogWrite(ENC,b); //PWM 调速
analogWrite(END,b); //PWM 调速
}

void back (char a,char b) //后退
{
digitalWrite(IN2,HIGH);
digitalWrite(IN1,LOW);
digitalWrite(IN4,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN6,HIGH);
digitalWrite(IN5,LOW);
digitalWrite(IN8,HIGH);
digitalWrite(IN7,LOW);
analogWrite(ENA,a); //PWM 调速
analogWrite(ENB,a); //PWM 调速
analogWrite(ENC,b); //PWM 调速
analogWrite(END,b); //PWM 调速
}

void turn_L (char a,char b) //左转
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
digitalWrite(IN5,HIGH);
digitalWrite(IN6,LOW);
digitalWrite(IN7,HIGH);
digitalWrite(IN8,LOW);
analogWrite(ENA,a); //PWM 调速
analogWrite(ENB,a); //PWM 调速
analogWrite(ENC,b); //PWM 调速
analogWrite(END,b); //PWM 调速
}

void turn_L90 (char a,char b) //左转
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
digitalWrite(IN5,HIGH);
digitalWrite(IN6,LOW);
digitalWrite(IN7,HIGH);
digitalWrite(IN8,LOW);
analogWrite(ENA,a); //PWM 调速
analogWrite(ENB,a); //PWM 调速
analogWrite(ENC,b); //PWM 调速
analogWrite(END,b); //PWM 调速
}

void turn_R (char a,char b) //右转
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
digitalWrite(IN5,HIGH);
digitalWrite(IN6,LOW);
digitalWrite(IN7,HIGH);
digitalWrite(IN8,LOW);
analogWrite(ENA,a); //PWM 调速
analogWrite(ENB,a); //PWM 调速
analogWrite(ENC,b); //PWM 调速
analogWrite(END,b); //PWM 调速
}

void turn_R90 (char a,char b) //右转
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
digitalWrite(IN5,LOW);
digitalWrite(IN6,HIGH);
digitalWrite(IN7,LOW);
digitalWrite(IN8,HIGH);
analogWrite(ENA,a); //PWM 调速
analogWrite(ENB,a); //PWM 调速
analogWrite(ENC,b); //PWM 调速
analogWrite(END,b); //PWM 调速
}

void Stop(void)
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
digitalWrite(IN5,LOW);
digitalWrite(IN6,LOW);
digitalWrite(IN7,LOW);
digitalWrite(IN8,LOW);
for(int j=0;j<2;j++)
{
delay(1000);
}
}

// 初始化tsc230 和设置频率
void TSC_Init()
{
pinMode(S0, OUTPUT); //定义S0 为输出状态
pinMode(S1, OUTPUT); //定义S1 为输出状态
pinMode(S2, OUTPUT); //定义S2 为输出状态
pinMode(S3, OUTPUT); //定义S3 为输出状态
pinMode(OUT, INPUT); //定义OUT 为输入状态
digitalWrite(S0, LOW); //定义S0 为低电平
digitalWrite(S1, HIGH); //定义S1 为高电平
//输出频率缩放2%
}
// 选择过滤器的颜色

void TSC_FilterColor(int Level01, int Level02)
{
if(Level01 != 0) //如果Level01 不等于0
Level01 = HIGH; //则Level01 为高电平
if(Level02 != 0) //如果Level02 不等于0
Level02 = HIGH; //则Level02 为高电平
digitalWrite(S2, Level01); //将Level01 值送给S2
digitalWrite(S3, Level02); //将Level02 值送给S3
//选择过滤器颜色
}
void TSC_Count()
{
g_count ++ ; //自动计算频率
}
void TSC_Callback()
{
switch(g_flag)
{case 0: Serial.println("->WB Start"); //串口打印字符串"->WB Start"
            TSC_WB(LOW, LOW); //没有过滤红色
         break;
   case 1:    Serial.print("->Frequency R="); //串口打印字符串"->Frequency R="
Serial.println(g_count); //串口打印g_count 变量值
g_array = g_count;
TSC_WB(HIGH, HIGH); //没有过滤绿色
break;
   case 2: Serial.print("->Frequency G="); //串口打印字符串"->Frequency G="
Serial.println(g_count); //串口打印g_count 变量值
g_array = g_count;
TSC_WB(LOW, HIGH); //没有过滤蓝色
break;
   case 3: Serial.print("->Frequency B="); //串口打印字符串"->Frequency B="
Serial.println(g_count); //串口打印g_count 变量值
Serial.println("->WB End"); //串口打印字符串"->WB End"
g_array = g_count;
TSC_WB(HIGH, LOW); //清除（无过滤）
break;
   default:    g_count = 0;
break;
}
}
void TSC_WB(int Level0, int Level1) //白平衡
{
g_count = 0;
g_flag ++;
TSC_FilterColor(Level0, Level1);
Timer1.setPeriod(1000000); //设置一秒周期
}
void setup()
{
   myservo.attach(46);
   myservo.write(57);
   pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
   pinMode(IN3, OUTPUT);
   pinMode(IN4, OUTPUT);
pinMode(IN5, OUTPUT);
pinMode(IN6, OUTPUT);
pinMode(IN7, OUTPUT);
pinMode(IN8, OUTPUT);
   pinMode(22,INPUT);
   pinMode(23,INPUT);
   pinMode(26,INPUT);
   pinMode(27,INPUT);
   TSC_Init(); //初始化tcs230
Serial.begin(9600); //打开串口并设置通信波特率为9600
Timer1.initialize(); //初始化默认是一秒
Timer1.attachInterrupt(TSC_Callback); //外部中断为一秒
attachInterrupt(0, TSC_Count, RISING); //外部中断口初始0
delay(4000); //延迟4 秒
for(int i=0; i<3; i++)
Serial.println(g_array); //串口打印g_array变量值
g_SF = 255.0/ g_array; //红色的比例因子
g_SF = 255.0/ g_array ; //绿色的比例因子
g_SF = 255.0/ g_array ; //蓝色的比例因子
Serial.println(g_SF); //串口打印g_SF变量值
Serial.println(g_SF); //串口打印g_SF变量值
Serial.println(g_SF); //串口打印g_SF变量值
}

void loop()
{

for(int k=0;k<700;k++)
{
if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
{
advance(val1,val2);
   delay(1);
}
else if (LOW==digitalRead(22))
{
   turn_L(val3,val1);
delay(1);
}
else if (LOW==digitalRead(23))
{
turn_R(val1,val3);
delay(1);
}
}
for(int k=0;k<2400;k++)
{
if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
{
advance(val1,val2);
   delay(1);
}
else if (LOW==digitalRead(22))
{
   turn_L(val3,val1);
delay(1);
}
else if (LOW==digitalRead(23))
{
turn_R(val1,val3);
delay(1);
}
else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
{
Stop();
   break;
}
}
Stop();
turn_L90(val1,val2);    //90
delay(2000);
Stop();
for(int k=57;k>=45;k=k-1)
{
   myservo.write(k);
   delay(50);
}

for(int k=0;k<1460;k++)
{
if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
{
   advance(val5,val6);
   delay(1);
}
else if (LOW==digitalRead(22))
{
   turn_L(val3,val1);
   delay(1);
}
else if (LOW==digitalRead(23))
{
   turn_R(val1,val3);
   delay(1);
}
}
Stop();
for(int j=45;j<=57;j=j+1)
{
myservo.write(j);
delay(50);
}
digitalWrite(13,HIGH);
red=0;yellow=0;black=0;white=0;blue=0;
for(int i=0;i<6;i++)
{
   g_flag = 0;
   for(int i=0; i<3; i++)
   {
      Serial.println(int(g_array * g_SF));
      value=int(g_array * g_SF); //将g_array * g_SF值赋值给value
   }
   if ((value -value>15)&&(value -value>15)) //如果变量value数值满足为红色值范围则执行下面语句
{ Serial.println("->Red");red=red+1;}//串口打印字符串"->Red"

   else if ((value -value>22)&&(value -value>20)) //如果变量value数值满足为黄色值范围则执行下面语句
{ Serial.println("->Yellow");yellow=yellow+1;} //串口打印字符串"->Yellow"

   else if (((value>46)&&(value<80)) && ((value>54)&&(value<87)) && ((value>54) && (value<87))) //如果变量value数值满足为黑色值范围则执行下面语句
{ Serial.println("->Black");black=black+1;} //串口打印字符串"->Black"

   else if (((value>105)&&(value<123))&&((value>112)&&(value<142))&&((value>120)&&(value<149))) //如果变量value数值满足为蓝色值范围则执行下面语句
{ Serial.println("->Blue");blue=blue+1;}//串口打印字符串"->Blue"

   else if (((value>123)&&(value>145))&&(value>143)) //如果变量value数值满足为白色值范围则执行下面语句
{ Serial.println("->White");white=white+1;}//串口打印字符串"->White"

   else if (value>0 && value>0 && value>0) //如果变量value数值不满足上述颜色值范围则执行下面语句
{ Serial.println("->Other Color");} //串口打印字符串"->Other Color"
delay(1000); //延迟1 秒
}
if ((yellow>=blue)&&(yellow>=red)&&(yellow>=white)&&(yellow>=black))
{
   for(int k=0;k<1800;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();       //黄色位置
   delay(200);
   for(int j=58;j>=45;j=j-1)
   {
   myservo.write(j);
   delay(50);
   }
   delay(200);
   for(int k=0;k<600;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
   else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
   }
Stop();delay(200);
for(int k=45;k<=58;k=k+1)
{
   myservo.write(k);
   delay(50);
}
   delay(100);
   for(int k=0;k<1800;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
   else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
   else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();
   delay(200);
   turn_R90(val1,val2); //转过180度角
   delay(3200);
   Stop();
   delay(1000);
}
   else if((white>=blue)&&(white>=red)&&(white>=black)&&(white>=yellow))
{                                        //如果是白色
   for(int k=0;k<1400;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(200);
   turn_R90(val1,val2); //转过45度角
   delay(980);
   Stop(); delay(200);
   for(int k=0;k<800;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
   for(int k=0;k<2200;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();    //白色位置
   for(int j=57;j>=45;j=j-1)
   {
   myservo.write(j);
   delay(50);
   }
   for(int k=0;k<1600;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
   else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
   }
Stop();delay(200);
   for(int k=45;k<=57;k=k+1)
   {
   myservo.write(k);
   delay(50);
   }
   for(int k=0;k<1500;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
   else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
   else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();
   delay(200);
   turn_R90(val1,val2); //转过135度角
   delay(2700);
   Stop();
   delay(1000);
}
   else if((red>=blue)&&(red>=white)&&(red>=black)&&(red>=yellow))
{                                        //如果是红色
   for(int k=0;k<1400;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(200);
   turn_R90(val1,val2); //转过45度角
   delay(980);
   Stop();
   delay(200);
   for(int k=0;k<1480;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
   for(int k=0;k<1780;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }                //先到达白色位置，然后右转112.5度
   Stop();
   delay(200);
   turn_R90(val1,val2);
   delay(2300);
   Stop();
   delay(200);
   for(int k=0;k<2200;k++)          //外围黑线
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))||(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();    //已到达红色位置
   delay(200);
   for(int k=58;k>=45;k=k-1)
   {
      myservo.write(k);
      delay(50);
   }
   for(int k=0;k<2340;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
         back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(100);
   for(int j=45;j<=58;j=j+1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   turn_R90(val1,val2);                   //转回主轴线
   delay(1400);
   Stop();
   delay(200);
   for(int k=0;k<2900;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         advance(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if ((LOW==digitalRead(26))||(LOW==digitalRead(27)))
   {
      Stop();
      break;
   }
   }
   Stop(); delay(200);
   turn_L90(val1,val2); //转过45度角
   delay(980);
   Stop(); delay(1000);
}
   else if((black>=blue)&&(black>=red)&&(black>=white)&&(black>=yellow))
{
   for(int k=0;k<1300;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(200);
   turn_R90(val1,val2); //转过135度角
   delay(2800);
   Stop(); delay(200);
   for(int k=0;k<800;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
   for(int k=0;k<2200;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();    //黑色位置
   for(int j=57;j>=45;j=j-1)
   {
   myservo.write(j);
   delay(50);
   }
   for(int k=0;k<1600;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
   else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
   }
Stop();delay(200);
   for(int k=45;k<=57;k=k+1)
   {
   myservo.write(k);
   delay(50);
   }
   for(int k=0;k<1500;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
   else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
   else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();
   delay(200);
   turn_R90(val1,val2); //转过45度角
   delay(980);
   Stop();
   delay(1000);
}
else if((blue>=white)&&(blue>=red)&&(blue>=black)&&(blue>=yellow))
{
   for(int k=0;k<1360;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(200);
   turn_R90(val1,val2); //转过135度角
   delay(2900);
   Stop();
   delay(200);
   for(int k=0;k<1400;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
   for(int k=0;k<750;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }                //先到达黑色位置，然后右转112.5度
   Stop();
   delay(200);
   turn_R90(val1,val2);
   delay(2350);
   Stop();
   delay(200);
   for(int k=0;k<2000;k++)          //外围黑线
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))||(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();    //已到达蓝色位置
   delay(200);
   for(int k=58;k>=45;k=k-1)
   {
      myservo.write(k);
      delay(50);
   }
   for(int k=0;k<2200;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
         back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(100);
   for(int j=45;j<=58;j=j+1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   turn_L90(val1,val2);                   //转回主轴线
   delay(2400);
   Stop();
   delay(200);
   for(int k=0;k<3100;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
      else if ((LOW==digitalRead(26))||(LOW==digitalRead(27)))
   {
      Stop();
      break;
   }
   }
   Stop(); delay(200);
   turn_R90(val1,val2); //转过45度角
   delay(980);
   Stop(); delay(1000);
}

/////////////////////////判断二//////////////////////////
   for(int j=58;j<=45;j=j-1)
{
   myservo.write(j);
   delay(50);
}
   for(int k=0;k<1460;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
Stop();
delay(200);
for(int j=45;j<=58;j=j+1)
{
myservo.write(j);
delay(50);
}
delay(200);
g_flag = 0;
red=0;yellow=0;black=0;white=0;blue=0;
for(int i=0; i<3; i++)
{
         Serial.println(int(g_array * g_SF));
         value=int(g_array * g_SF); //将g_array * g_SF值赋值给value
}
if ((value -value>15)&&(value -value>15)) //如果变量value数值满足为红色值范围则执行下面语句
{ Serial.println("->Red");red=red+1;}//串口打印字符串"->Red"

else if ((value -value>22)&&(value -value>20)) //如果变量value数值满足为黄色值范围则执行下面语句
{ Serial.println("->Yellow");yellow=yellow+1;} //串口打印字符串"->Yellow"

else if (((value>46)&&(value<80)) && ((value>54)&&(value<87)) && ((value>54) && (value<87))) //如果变量value数值满足为黑色值范围则执行下面语句
{ Serial.println("->Black");black=black+1;} //串口打印字符串"->Black"

else if (((value>105)&&(value<123))&&((value>112)&&(value<142))&&((value>120)&&(value<149))) //如果变量value数值满足为蓝色值范围则执行下面语句
{ Serial.println("->Blue");blue=blue+1;}//串口打印字符串"->Blue"

else if (((value>123)&&(value>145))&&(value>143)) //如果变量value数值满足为白色值范围则执行下面语句
{ Serial.println("->White");white=white+1;}//串口打印字符串"->White"

else if (value>0 && value>0 && value>0) //如果变量value数值不满足上述颜色值范围则执行下面语句
{ Serial.println("->Other Color");} //串口打印字符串"->Other Color"
delay(1000); //延迟1 秒

if ((blue>=red)&&(blue>=white)&&(blue>=black)&&(blue>=yellow))//蓝色
{
for(int k=0;k<1800;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();delay(200);
   for(int j=58;j>=46;j=j-1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);       //放置在蓝色区域
   for(int k=0;k<1000;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop(); delay(200);
   for(int j=45;j<=58;j=j+1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   for(int k=0;k<1800;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
      else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
      else if ((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
         Stop();
         break;
   }
   }
   Stop();
   turn_L90(val1,val2);//转过90度角
   delay(2000);       Stop();    delay(1000);
}
else if((black>=blue)&&(black>=red)&&(black>=white)&&(black>=yellow))
{
for(int k=0;k<1360;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(200);
   turn_L90(val1,val2); //左转过45度角
   delay(980);
   Stop();delay(200);
   for(int k=0;k<800;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
   for(int k=0;k<2200;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();    //黑色位置
   delay(200);
   for(int j=58;j>=46;j=j-1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   for(int k=0;k<800;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();delay(200);
   for(int j=46;j<=58;j=j+1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   for(int k=0;k<3100;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
      else if ((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
         Stop();
         break;
   }
   }
   Stop(); delay(200);
   turn_L90(val1,val2); //左转过45度角
   delay(980);
   Stop(); delay(1000);
}
else if((yellow>=blue)&&(yellow>=red)&&(yellow>=white)&&(yellow>=black))
{
   for(int k=0;k<1400;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(200);
   turn_L90(val1,val2); //左转过180度角
   delay(3600);
   Stop();delay(200);
   for(int k=0;k<800;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
   for(int k=0;k<2200;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();    //黄色位置
   delay(200);
   for(int j=58;j>=46;j=j-1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   for(int k=0;k<800;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();delay(200);
   for(int j=46;j<=58;j=j+1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   for(int k=0;k<3100;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
         back(val3,val1);
         delay(1);
   }
      else if (LOW==digitalRead(23))
   {
         back(val1,val3);
         delay(1);
   }
      else if ((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
         Stop();
         break;
   }
   }
   Stop(); delay(200);
   turn_R90(val1,val2); //右转过90度角
   delay(2000);
   Stop(); delay(1000);
}
else if((white>=blue)&&(white>=red)&&(white>=yellow)&&(white>=black))//判定为白色
{
   for(int k=0;k<1400;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();
   delay(200);
   turn_L90(val1,val2); //左转过135度角
   delay(2700);
   Stop();delay(200);
   for(int k=0;k<800;k++)
{
   if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
   advance(val5,val6);
      delay(1);
   }
   else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
   delay(1);
}
   else if (LOW==digitalRead(23))
   {
   turn_R(val1,val3);
   delay(1);
   }
}
   for(int k=0;k<2200;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
      advance(val1,val2);
      delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      turn_L(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      turn_R(val1,val3);
      delay(1);
   }
      else if((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
   Stop();
      break;
   }
   }
   Stop();    //白色位置
   delay(200);
   for(int j=58;j>=46;j=j-1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   for(int k=0;k<800;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
   }
   Stop();delay(200);
   for(int j=45;j<=58;j=j+1)
   {
      myservo.write(j);
      delay(50);
   }
   delay(200);
   for(int k=0;k<3100;k++)
   {
      if((HIGH==digitalRead(22))&&(HIGH==digitalRead(23)))
   {
         back(val1,val2);
         delay(1);
   }
      else if (LOW==digitalRead(22))
   {
      back(val3,val1);
      delay(1);
   }
      else if (LOW==digitalRead(23))
   {
      back(val1,val3);
      delay(1);
   }
      else if ((LOW==digitalRead(26))&&(LOW==digitalRead(27)))
   {
         Stop();
         break;
   }
   }
   Stop(); delay(200);
   turn_R90(val1,val2); //右转过45度角
   delay(980);
   Stop(); delay(1000);
}
}
这是我参加校内一个分拣比赛的程序，主题思想就是到位置识别颜色，然后分拣到对应位置，麻烦楼主啦。。。我用的是Arduino的MFGA2560.。。

Mr.Dante 发表于 2013-4-18 15:27:49

R大最近在玩颜色传感器我照你的做发觉偏差好大啊。白平衡的时候用纸盖住的话，亮度不够，偏暗；用led白光照射的话，RGB值直接过300。另外我发觉tcs230对于蓝色光谱的测量好有问题。

k50402k 发表于 2013-4-26 09:00:18

想請問怎樣改可以加快速度
還有TIMER到底怎麼運作的
再來OUT是第2腳
但程式內都找不到在哪邊讀取資料

Dmonke 发表于 2013-6-10 18:50:13

LZ好人，多谢多谢！

Dmonke 发表于 2013-6-10 21:03:40

白平衡还是不会调呀……显示的还是大于255的~{:soso_e109:}

keyosa 发表于 2013-7-25 12:21:49

能请教下上面内置的4个LED白灯如何点亮吗

hdxabout 发表于 2013-7-25 16:57:48

非常赞同楼主的观点：学术知识就应该拿出来分享。内容很好，{:soso_e179:}

tbmaomao8 发表于 2013-7-25 22:16:39

这个原理我在机器人比赛中用过其实如果是玩玩不用买模块啊模块太浪费钱了

kangqiaohuanbo 发表于 2013-7-30 10:50:48

tbmaomao8 发表于 2013-7-25 22:16 static/image/common/back.gif
这个原理我在机器人比赛中用过其实如果是玩玩不用买模块啊模块太浪费钱了

请问一下，你可知道怎么用这个颜色传感器识别魔方的颜色？？？谢谢！

tbmaomao8 发表于 2013-8-2 10:13:17

kangqiaohuanbo 发表于 2013-7-30 10:50 static/image/common/back.gif
请问一下，你可知道怎么用这个颜色传感器识别魔方的颜色？？？谢谢！

我没使用过这种颜色传感器

Mr.Dante 发表于 2013-8-6 16:29:21

请教R大怎样提高测试精度呢？我不知道是不是我这个模块的原因，每次测量的结果都和我肉眼看到的差很多

蓝海发表于 2013-9-9 23:54:06

问下
这个传感器的识别距离是多少？

就是说能识别出来多远物体的颜色？

蓝海发表于 2013-9-9 23:54:35

问下
这个传感器的识别距离是多少？

就是说能识别出来多远物体的颜色？

Randy 发表于 2013-9-10 09:10:13

蓝海发表于 2013-9-9 23:54 static/image/common/back.gif
问下
这个传感器的识别距离是多少？

一般越近越好，超过15CM貌似不太好了！！

qy3986102 发表于 2013-9-13 12:04:37

请问出现Timer1' was not declared in this scope是怎么回事啊？

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