Diff: CameraThread.cpp

Revision:

15:cf67f83d5409

Parent:

14:5777377537a2

Child:

16:58ec2b891a25

diff -r 5777377537a2 -r cf67f83d5409 CameraThread.cpp
--- a/CameraThread.cpp	Sat Mar 03 02:14:40 2018 +0000
+++ b/CameraThread.cpp	Sat Mar 03 04:47:26 2018 +0000
@@ -15,15 +15,13 @@
 
 #include "mbed.h"
 #include "Pixy.h"
+#include "ui.h"
 
 #define CENTER              160
 #define DISTANCE            20
 #define SIGNATURE_IN_USE    0
 
 osThreadId CameraId;
-
-extern Serial bluetooth;
-
 Mutex cameraData_mutex;
 
 SPI spiR(p11, p12, p13); // (mosi, miso, sclk)
@@ -69,16 +67,9 @@
     ObjectArea=0; 
     SteeringError=0; 
     DistanceError=0;
-    
-    // Reset all storage
-    xRAvg=0;
-    yRAvg=0; 
-    ObjectWidthAvg=0; 
-    ObjectHeightAvg=0; 
-    ObjectAreaAvg=0; 
 
     CameraId = osThreadCreate(osThread(CameraThread), NULL);
-    CameraPeriodicInt.attach(&CameraPeriodicInterruptISR, 0.05); // 500ms sampling rate    
+    CameraPeriodicInt.attach(&CameraPeriodicInterruptISR, 0.5); // 500ms sampling rate    
 }
 
 
@@ -90,7 +81,6 @@
 *******************************************************************************/
 void CameraThread(void const *argument)
 {
-    static int count = 0;
     
     while (true) 
     {
@@ -101,45 +91,28 @@
         if (blocksR) {
             // signature 0 is cloudy day
             // signature 1 is indoor lighting
-             
+            
+            cameraData_mutex.lock(); 
             xR = pixyR.blocks[SIGNATURE_IN_USE].x;
             yR = pixyR.blocks[SIGNATURE_IN_USE].y;
             ObjectWidth = pixyR.blocks[SIGNATURE_IN_USE].width;
             ObjectHeight = pixyR.blocks[SIGNATURE_IN_USE].height;
             ObjectArea = ObjectHeight * ObjectWidth;
             
-            // Accumulate readings to be used for average value calculation
-            xRAvg += xR;
-            yRAvg += yR; 
-            ObjectWidthAvg += ObjectWidth; 
-            ObjectHeightAvg += ObjectHeight; 
-            ObjectAreaAvg += ObjectArea; 
             
-            count++;
-            // Average calculation 10 readings
-            if(count > 10)
-            {   
-                xRAvg=xRAvg/10;
-                yRAvg=yRAvg/10; 
-                ObjectWidthAvg=ObjectWidthAvg/10; 
-                ObjectHeightAvg=ObjectHeightAvg/10; 
-                ObjectAreaAvg=ObjectAreaAvg/10; 
-            
-                cameraData_mutex.lock();
-                DistanceError = DISTANCE - ObjectWidthAvg;
-                SteeringError = CENTER - xRAvg;
-                cameraData_mutex.unlock();
-                
-                count = 0;
-                    // Reset all storage
-    xRAvg=0;
-    yRAvg=0; 
-    ObjectWidthAvg=0; 
-    ObjectHeightAvg=0; 
-    ObjectAreaAvg=0;
-            }
+            DistanceError = DISTANCE - ObjectWidth;
+            SteeringError = CENTER - xR;
+            cameraData_mutex.unlock();
             
         }
+        // ball not found stop robot from moving
+        else
+        {
+           // set Distance error = 0
+           DistanceError = 0;
+           SteeringError = 0;
+        }
+           
            
     }