7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

Revision:
18:278f49df6df3
Parent:
16:88433b5650df
Child:
19:5e8260f3bdb2
--- a/source/Camera.cpp	Sat Jan 17 12:10:22 2015 +0000
+++ b/source/Camera.cpp	Sat Jan 17 13:25:59 2015 +0000
@@ -1,12 +1,17 @@
 #include "mbed.h"
 #include "Camera.h"
 
-DigitalOut clk(PTC2);
-DigitalOut si(PTB3);
-AnalogIn pix(PTB2);
+// les 2 cameras sont en parallèle
+DigitalOut clk(PTE1); //clocl camera
+DigitalOut si(PTE0); // start camera
+
+AnalogIn pix1(PTB2);//lecture camera1
+AnalogIn pix2(PTB3);//lecture camera2
 
 
-extern unsigned int pixel[128]= {0}; //
+
+extern unsigned int pixel1[128]= {0}; //
+extern unsigned int pixel2[128]= {0}; //
 
 void readline(void) // fonction de détection de la ligne
 {
@@ -25,7 +30,7 @@
             si=0;
         if ( (compteur & 1)  && compteur >= 7) {     // mesure sur front descendant,
             //   pc.printf("lecture pixel\n");
-            pixel[index_pixel]=pix.read_u16();
+            pixel1[index_pixel]=pix.read_u16();
             index_pixel ++;
         }
         wait_us(10);
@@ -47,8 +52,8 @@
     // et de la droite sur tamponpixel[128:255]
     for (i=ordre; i<128; i++) {
         for (int a=0; a<=ordre; a++) {
-            tamponpixel[i]+=pixel[i-a];
-            tamponpixel[255-i]+=pixel[127-i+a];
+            tamponpixel[i]+=pixel1[i-a];
+            tamponpixel[255-i]+=pixel1[127-i+a];
         }
         tamponpixel[i]/=(ordre+1);
         tamponpixel[255-i]/=(ordre+1);
@@ -63,7 +68,7 @@
     // Actualisation de l'image filtrée
     for (i=0;i<128;i++)
     {
-        pixel[i]=(tamponpixel[i]+tamponpixel[127+i])/2;
+        pixel1[i]=(tamponpixel[i]+tamponpixel[127+i])/2;
 
     }
 }
@@ -74,13 +79,13 @@
     unsigned int tamponpixel[128] = {0};
     
     for (int i=1; i<128; i++) {
-        tamponpixel[i]=(pixel[i]-pixel[i-1]);
+        tamponpixel[i]=(pixel1[i]-pixel1[i-1]);
     }
     tamponpixel[0]=tamponpixel[1];
 
     // Actualisation de l'image filtrée
     for (int i=0; i<128; i++) {
-        pixel[i]=tamponpixel[i];
+        pixel1[i]=tamponpixel[i];
     }
 
 }
\ No newline at end of file