E=MC / Mbed 2 deprecated coolcarsuperfast2

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed MODSERIAL telemetry-master

Fork of coolcarsuperfast by Michael Romain

main.cpp@23:bf38d7d2255a, 2015-04-28 (annotated)

Committer:
mawk2311
Date:
Tue Apr 28 22:29:41 2015 +0000
Revision:
23:bf38d7d2255a
Parent:
19:d9746cc2ec80
Child:
24:7fc204a3d013
I realized that I declared a float value as an int, so that would have caused some problems. Just changed that now. Sorry guys.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mawk2311 0:ad375c052b4c 1 #include "mbed.h"
mawk2311 0:ad375c052b4c 2 #include "stdlib.h"
ericoneill 7:6d5ddcf12cf3 3 #include <vector>
mawk2311 0:ad375c052b4c 4 //Outputs
mawk2311 0:ad375c052b4c 5 DigitalOut led1(LED1);
mawk2311 0:ad375c052b4c 6 DigitalOut clk(PTD5);
mawk2311 0:ad375c052b4c 7 DigitalOut si(PTD4);
mawk2311 5:20223464f7aa 8 PwmOut motor1(PTA12);
mawk2311 5:20223464f7aa 9 PwmOut motor2(PTA4);
mawk2311 5:20223464f7aa 10 DigitalOut break1(PTC7);
mawk2311 5:20223464f7aa 11 DigitalOut break2(PTC0);
mawk2311 0:ad375c052b4c 12 PwmOut servo(PTA5);
mawk2311 0:ad375c052b4c 13
mawk2311 5:20223464f7aa 14 Serial pc(USBTX, USBRX); // tx, rx
mawk2311 5:20223464f7aa 15
mawk2311 0:ad375c052b4c 16 //Inputs
mawk2311 0:ad375c052b4c 17 AnalogIn camData(PTC2);
mawk2311 0:ad375c052b4c 18
mawk2311 0:ad375c052b4c 19 //Encoder setup and variables
mawk2311 0:ad375c052b4c 20 InterruptIn interrupt(PTA13);
mawk2311 0:ad375c052b4c 21
mawk2311 0:ad375c052b4c 22 //Line Tracking Variables --------------------------------
mawk2311 0:ad375c052b4c 23 float ADCdata [128];
mawk2311 5:20223464f7aa 24 float maxAccum;
mawk2311 5:20223464f7aa 25 float maxCount;
mawk2311 0:ad375c052b4c 26 float approxPos;
mawk2311 12:48b76450c4b4 27 float prevApproxPos;
mawk2311 15:55e9fffc653a 28 int trackWindow = 30;
mawk2311 14:888495814f3c 29 int startWindow;
mawk2311 14:888495814f3c 30 int endWindow;
mawk2311 5:20223464f7aa 31 float maxVal;
mawk2311 5:20223464f7aa 32 int maxLoc;
mawk2311 12:48b76450c4b4 33
mawk2311 12:48b76450c4b4 34 bool firstTime;
mawk2311 11:b59ec039a712 35
mawk2311 10:e40ad924e935 36 //Data Collection
mawk2311 10:e40ad924e935 37 bool dataCol = false;
mawk2311 11:b59ec039a712 38 int loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime;
mawk2311 10:e40ad924e935 39
mawk2311 5:20223464f7aa 40 //Line Crossing variables
mawk2311 5:20223464f7aa 41 int prevTrackLoc;
mawk2311 18:7941524e0d28 42 int spaceThresh = 3;
mawk2311 18:7941524e0d28 43 int widthThresh = 10;
mawk2311 5:20223464f7aa 44 bool space;
mawk2311 0:ad375c052b4c 45
mawk2311 0:ad375c052b4c 46 //Servo turning parameters
mawk2311 0:ad375c052b4c 47 float straight = 0.00155f;
mawk2311 16:79106efd7a57 48 float hardLeft = 0.0012f;
mawk2311 16:79106efd7a57 49 float hardRight = 0.0020f;
mawk2311 12:48b76450c4b4 50 //float hardLeft = 0.0010f;
mawk2311 12:48b76450c4b4 51 //float hardRight = 0.00195f;
mawk2311 0:ad375c052b4c 52
mawk2311 5:20223464f7aa 53 //Servo Directions
mawk2311 5:20223464f7aa 54 float currDir;
mawk2311 5:20223464f7aa 55 float prevDir;
mawk2311 5:20223464f7aa 56
ericoneill 7:6d5ddcf12cf3 57 // All linescan data for the period the car is running on. To be printed after a set amount of time
ericoneill 7:6d5ddcf12cf3 58 //std::vector<std::vector<int> > frames;
ericoneill 7:6d5ddcf12cf3 59 const int numData = 1000;
ericoneill 7:6d5ddcf12cf3 60 int lineCenters [numData] = {0};
ericoneill 7:6d5ddcf12cf3 61 int times [numData] = {0};
ericoneill 7:6d5ddcf12cf3 62 int loopCtr = 0;
ericoneill 7:6d5ddcf12cf3 63
mawk2311 0:ad375c052b4c 64 //End of Line Tracking Variables -------------------------
mawk2311 0:ad375c052b4c 65
mawk2311 0:ad375c052b4c 66 //Encoder and Motor Driver Variables ---------------------
mawk2311 0:ad375c052b4c 67
mawk2311 0:ad375c052b4c 68 //Intervals used during encoder data collection to measure velocity
mawk2311 0:ad375c052b4c 69 int interval1=0;
mawk2311 0:ad375c052b4c 70 int interval2=0;
mawk2311 0:ad375c052b4c 71 int interval3=0;
mawk2311 0:ad375c052b4c 72 int avg_interval=0;
mawk2311 0:ad375c052b4c 73 int lastchange1 = 0;
mawk2311 0:ad375c052b4c 74 int lastchange2 = 0;
mawk2311 0:ad375c052b4c 75 int lastchange3 = 0;
mawk2311 0:ad375c052b4c 76 int lastchange4 = 0;
mawk2311 0:ad375c052b4c 77
mawk2311 0:ad375c052b4c 78 //Variables used to for velocity control
mawk2311 0:ad375c052b4c 79 float avg_speed = 0;
mawk2311 5:20223464f7aa 80 float last_speed = 0;
mawk2311 5:20223464f7aa 81
mawk2311 0:ad375c052b4c 82 float stall_check = 0;
mawk2311 0:ad375c052b4c 83 float tuning_val = 1;
mawk2311 0:ad375c052b4c 84
mawk2311 6:f1d948d2d6c1 85 int numInterrupts = 0;
mawk2311 5:20223464f7aa 86
mawk2311 19:d9746cc2ec80 87 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Tuning Values that can make it or break it ~~~~~~~~~~~~~~~~~~~~~~~~
mawk2311 23:bf38d7d2255a 88 float pulsewidth = 0.2f;
mawk2311 19:d9746cc2ec80 89 int intTimMod = 0;
mawk2311 23:bf38d7d2255a 90 float maxValThresh = .12; //~.1 for earlier in the day, reduce it (maybe something like .05 - .01 or something) as it gets darker
mawk2311 23:bf38d7d2255a 91 bool turnSpeedControl = true; //have increased PWMs when turning when true.
mawk2311 14:888495814f3c 92 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
mawk2311 16:79106efd7a57 93
mawk2311 5:20223464f7aa 94 // Hardware periods
mawk2311 5:20223464f7aa 95 float motorPeriod = .0025;
mawk2311 5:20223464f7aa 96 float servoPeriod = .0025;
mawk2311 5:20223464f7aa 97
mawk2311 0:ad375c052b4c 98 Timer t;
mawk2311 0:ad375c052b4c 99 Timer servoTimer;
ericoneill 7:6d5ddcf12cf3 100 Timer printTimer; //after printTimer reaches a certain value the main loop will terminate and print the frames
mawk2311 0:ad375c052b4c 101
mawk2311 0:ad375c052b4c 102 //End of Encoder and Motor Driver Variables ----------------------
mawk2311 0:ad375c052b4c 103
mawk2311 6:f1d948d2d6c1 104 //Function for speeding up KL25Z ADC
mawk2311 6:f1d948d2d6c1 105 void initADC(void){
mawk2311 6:f1d948d2d6c1 106
mawk2311 6:f1d948d2d6c1 107 ADC0->CFG1 = ADC0->CFG1 & (
mawk2311 6:f1d948d2d6c1 108 ~(
mawk2311 6:f1d948d2d6c1 109 0x80 // LDLPC = 0 ; no low-power mode
mawk2311 6:f1d948d2d6c1 110 | 0x60 // ADIV = 1
mawk2311 6:f1d948d2d6c1 111 | 0x10 // Sample time short
mawk2311 6:f1d948d2d6c1 112 | 0x03 // input clock = BUS CLK
mawk2311 6:f1d948d2d6c1 113 )
mawk2311 6:f1d948d2d6c1 114 ) ; // clkdiv <= 1
mawk2311 6:f1d948d2d6c1 115 ADC0->CFG2 = ADC0->CFG2
mawk2311 6:f1d948d2d6c1 116 | 0x03 ; // Logsample Time 11 = 2 extra ADCK
mawk2311 6:f1d948d2d6c1 117 ADC0->SC3 = ADC0->SC3
mawk2311 6:f1d948d2d6c1 118 & (~(0x03)) ; // hardware avarage off
mawk2311 6:f1d948d2d6c1 119 }
mawk2311 6:f1d948d2d6c1 120
mawk2311 0:ad375c052b4c 121 int main() {
mawk2311 6:f1d948d2d6c1 122
mawk2311 6:f1d948d2d6c1 123 //Alter reg values to speed up KL25Z
mawk2311 6:f1d948d2d6c1 124 initADC();
mawk2311 6:f1d948d2d6c1 125
mawk2311 0:ad375c052b4c 126 //Line Tracker Initializations
mawk2311 0:ad375c052b4c 127 int integrationCounter = 0;
mawk2311 0:ad375c052b4c 128
mawk2311 6:f1d948d2d6c1 129 //Initial values for directions
mawk2311 5:20223464f7aa 130 currDir = 0;
mawk2311 5:20223464f7aa 131 prevDir = 0;
mawk2311 5:20223464f7aa 132
mawk2311 0:ad375c052b4c 133 // Motor Driver Initializations
mawk2311 5:20223464f7aa 134 motor1.period(motorPeriod);
mawk2311 5:20223464f7aa 135 motor2.period(motorPeriod);
mawk2311 0:ad375c052b4c 136
mawk2311 5:20223464f7aa 137 // Servo Initialization
mawk2311 5:20223464f7aa 138 servo.period(servoPeriod);
mawk2311 15:55e9fffc653a 139 servo.pulsewidth(hardRight);
mawk2311 5:20223464f7aa 140 wait(3);
mawk2311 0:ad375c052b4c 141
mawk2311 12:48b76450c4b4 142 motor1.pulsewidth(motorPeriod*pulsewidth);
mawk2311 12:48b76450c4b4 143 motor2.pulsewidth(motorPeriod*pulsewidth);
mawk2311 0:ad375c052b4c 144 break1 = 0;
mawk2311 0:ad375c052b4c 145 break2 = 0;
mawk2311 0:ad375c052b4c 146
mawk2311 12:48b76450c4b4 147 firstTime = true;
mawk2311 12:48b76450c4b4 148
mawk2311 10:e40ad924e935 149 //t.start();
mawk2311 10:e40ad924e935 150
mawk2311 10:e40ad924e935 151 if(dataCol){
mawk2311 11:b59ec039a712 152 loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime = 0;
mawk2311 10:e40ad924e935 153 printTimer.start();
mawk2311 10:e40ad924e935 154 }
ericoneill 8:e126c900c89d 155
mawk2311 0:ad375c052b4c 156 while(1) {
mawk2311 10:e40ad924e935 157 if(dataCol){
mawk2311 10:e40ad924e935 158 //break out of main loop if enough time has passed;
mawk2311 10:e40ad924e935 159 if(loopCtr >= numData && dataCol){
mawk2311 10:e40ad924e935 160 break;
mawk2311 10:e40ad924e935 161 }
ericoneill 7:6d5ddcf12cf3 162 }
mawk2311 0:ad375c052b4c 163 if(integrationCounter % 151== 0){
mawk2311 10:e40ad924e935 164 /*
mawk2311 0:ad375c052b4c 165 //Disable interrupts
mawk2311 5:20223464f7aa 166 interrupt.fall(NULL);
mawk2311 5:20223464f7aa 167 interrupt.rise(NULL);
ericoneill 7:6d5ddcf12cf3 168 */
mawk2311 10:e40ad924e935 169
mawk2311 0:ad375c052b4c 170 //Send start of integration signal
mawk2311 0:ad375c052b4c 171 si = 1;
mawk2311 0:ad375c052b4c 172 clk = 1;
mawk2311 0:ad375c052b4c 173
mawk2311 0:ad375c052b4c 174 si = 0;
mawk2311 0:ad375c052b4c 175 clk = 0;
mawk2311 0:ad375c052b4c 176
mawk2311 0:ad375c052b4c 177 //Reset timing counter for integration
mawk2311 0:ad375c052b4c 178 integrationCounter = 0;
mawk2311 0:ad375c052b4c 179
mawk2311 0:ad375c052b4c 180 //Reset line tracking variables
mawk2311 5:20223464f7aa 181 maxAccum = 0;
mawk2311 5:20223464f7aa 182 maxCount = 0;
mawk2311 0:ad375c052b4c 183 approxPos = 0;
mawk2311 0:ad375c052b4c 184
mawk2311 5:20223464f7aa 185 space = false;
mawk2311 6:f1d948d2d6c1 186
mawk2311 0:ad375c052b4c 187 }
mawk2311 0:ad375c052b4c 188 else if (integrationCounter > 129){
mawk2311 5:20223464f7aa 189 //Start Timer
mawk2311 6:f1d948d2d6c1 190 //t.start();
mawk2311 0:ad375c052b4c 191
mawk2311 5:20223464f7aa 192 //Enable interrupts
mawk2311 6:f1d948d2d6c1 193 //interrupt.fall(&fallInterrupt);
mawk2311 6:f1d948d2d6c1 194 //interrupt.rise(&riseInterrupt);
mawk2311 5:20223464f7aa 195
mawk2311 12:48b76450c4b4 196 if (firstTime){
mawk2311 12:48b76450c4b4 197
mawk2311 12:48b76450c4b4 198 maxVal = ADCdata[10];
mawk2311 12:48b76450c4b4 199 for (int c = 11; c < 118; c++) {
mawk2311 12:48b76450c4b4 200 if (ADCdata[c] > maxVal){
mawk2311 12:48b76450c4b4 201 maxVal = ADCdata[c];
mawk2311 12:48b76450c4b4 202 maxLoc = c;
mawk2311 12:48b76450c4b4 203 }
mawk2311 0:ad375c052b4c 204 }
mawk2311 12:48b76450c4b4 205
mawk2311 12:48b76450c4b4 206 for (int c = 10; c < 118; c++) {
mawk2311 19:d9746cc2ec80 207 if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < maxValThresh){
mawk2311 12:48b76450c4b4 208 maxAccum += c;
mawk2311 12:48b76450c4b4 209 maxCount++;
mawk2311 15:55e9fffc653a 210 if (c > prevTrackLoc + spaceThresh || maxCount > widthThresh){
mawk2311 12:48b76450c4b4 211 space = true;
mawk2311 12:48b76450c4b4 212 }
mawk2311 12:48b76450c4b4 213 prevTrackLoc = c;
mawk2311 12:48b76450c4b4 214 }
mawk2311 12:48b76450c4b4 215 }
mawk2311 12:48b76450c4b4 216
mawk2311 16:79106efd7a57 217 //firstTime = false;
mawk2311 12:48b76450c4b4 218 } else {
mawk2311 12:48b76450c4b4 219
mawk2311 14:888495814f3c 220 startWindow = prevApproxPos - trackWindow;
mawk2311 14:888495814f3c 221 endWindow = prevApproxPos + trackWindow;
mawk2311 14:888495814f3c 222 if (startWindow < 0){
mawk2311 14:888495814f3c 223 startWindow = 0;
mawk2311 14:888495814f3c 224 }
mawk2311 14:888495814f3c 225 if (endWindow > 118){
mawk2311 14:888495814f3c 226 endWindow = 118;
mawk2311 14:888495814f3c 227 }
mawk2311 12:48b76450c4b4 228 maxVal = ADCdata[10];
mawk2311 14:888495814f3c 229 for (int c = startWindow; c < endWindow; c++) {
mawk2311 12:48b76450c4b4 230 if (ADCdata[c] > maxVal){
mawk2311 12:48b76450c4b4 231 maxVal = ADCdata[c];
mawk2311 12:48b76450c4b4 232 maxLoc = c;
mawk2311 12:48b76450c4b4 233 }
mawk2311 12:48b76450c4b4 234 }
mawk2311 12:48b76450c4b4 235
mawk2311 14:888495814f3c 236 for (int c = startWindow; c < endWindow; c++) {
mawk2311 19:d9746cc2ec80 237 if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < maxValThresh){
mawk2311 11:b59ec039a712 238 maxAccum += c;
mawk2311 11:b59ec039a712 239 maxCount++;
mawk2311 15:55e9fffc653a 240 if (c > prevTrackLoc + spaceThresh || maxCount > widthThresh){
mawk2311 11:b59ec039a712 241 space = true;
mawk2311 11:b59ec039a712 242 }
mawk2311 11:b59ec039a712 243 prevTrackLoc = c;
mawk2311 5:20223464f7aa 244 }
mawk2311 12:48b76450c4b4 245 }
mawk2311 11:b59ec039a712 246 }
mawk2311 12:48b76450c4b4 247 /*
mawk2311 11:b59ec039a712 248 //Check if we need to alter integration time due to brightness
mawk2311 11:b59ec039a712 249 if (maxVal < 0.15f){
mawk2311 11:b59ec039a712 250 intTimMod += 10;
mawk2311 11:b59ec039a712 251 } else if (maxVal >= 1) {
mawk2311 11:b59ec039a712 252 if (intTimMod > 0) {
mawk2311 11:b59ec039a712 253 intTimMod -= 10;
mawk2311 0:ad375c052b4c 254 }
mawk2311 0:ad375c052b4c 255 }
mawk2311 12:48b76450c4b4 256 */
mawk2311 11:b59ec039a712 257
mawk2311 6:f1d948d2d6c1 258 //Line Crossing Checks
mawk2311 10:e40ad924e935 259 if (space) {
mawk2311 5:20223464f7aa 260 currDir = prevDir;
mawk2311 15:55e9fffc653a 261 firstTime = true;
mawk2311 5:20223464f7aa 262 } else {
mawk2311 15:55e9fffc653a 263 approxPos = (float)maxAccum/(float)maxCount;
ericoneill 8:e126c900c89d 264
mawk2311 10:e40ad924e935 265 if(dataCol){
mawk2311 10:e40ad924e935 266 if(loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime%3==0){
mawk2311 10:e40ad924e935 267 lineCenters[loopCtr] = approxPos;
mawk2311 10:e40ad924e935 268 times[loopCtr] = printTimer.read_ms();
mawk2311 10:e40ad924e935 269 loopCtr++;
mawk2311 10:e40ad924e935 270 }
ericoneill 9:ad08181ad1cc 271 }
mawk2311 10:e40ad924e935 272
mawk2311 16:79106efd7a57 273 currDir = hardLeft + (approxPos)/((float) 118)*(hardRight-hardLeft);
mawk2311 12:48b76450c4b4 274 prevApproxPos = approxPos;
ericoneill 9:ad08181ad1cc 275
mawk2311 5:20223464f7aa 276 }
mawk2311 16:79106efd7a57 277
mawk2311 16:79106efd7a57 278 if (turnSpeedControl){
mawk2311 16:79106efd7a57 279 //Change speed when turning at different angles
mawk2311 16:79106efd7a57 280 if(approxPos > 0 && approxPos <= 45){
mawk2311 19:d9746cc2ec80 281 motor1.pulsewidth(motorPeriod*(pulsewidth*2.0f));
mawk2311 19:d9746cc2ec80 282 motor2.pulsewidth(motorPeriod*(pulsewidth*2.0f));
mawk2311 19:d9746cc2ec80 283 } else if (approxPos > 45 && approxPos <= 55){
mawk2311 19:d9746cc2ec80 284 motor1.pulsewidth(motorPeriod*pulsewidth*1.5f);
mawk2311 19:d9746cc2ec80 285 motor2.pulsewidth(motorPeriod*pulsewidth*1.5f);
mawk2311 19:d9746cc2ec80 286 } else if (approxPos > 55 && approxPos <= 85){
mawk2311 16:79106efd7a57 287 motor1.pulsewidth(motorPeriod*pulsewidth);
mawk2311 16:79106efd7a57 288 motor2.pulsewidth(motorPeriod*pulsewidth);
mawk2311 19:d9746cc2ec80 289 } else if (approxPos > 85 && approxPos <= 95){
mawk2311 19:d9746cc2ec80 290 motor1.pulsewidth(motorPeriod*pulsewidth*1.5f);
mawk2311 19:d9746cc2ec80 291 motor2.pulsewidth(motorPeriod*pulsewidth*1.5f);
mawk2311 16:79106efd7a57 292 } else {
mawk2311 19:d9746cc2ec80 293 motor1.pulsewidth(motorPeriod*(pulsewidth*2.0f));
mawk2311 19:d9746cc2ec80 294 motor2.pulsewidth(motorPeriod*(pulsewidth*2.0f));
mawk2311 16:79106efd7a57 295 }
mawk2311 16:79106efd7a57 296 }
mawk2311 16:79106efd7a57 297
mawk2311 5:20223464f7aa 298 servo.pulsewidth(currDir);
mawk2311 5:20223464f7aa 299
mawk2311 6:f1d948d2d6c1 300 //Start Velocity control after requisite number of encoder signals have been collected
mawk2311 6:f1d948d2d6c1 301 //if(numInterrupts >= 4){
mawk2311 6:f1d948d2d6c1 302 //velocity_control(0.1f, TUNING_CONSTANT_10);
mawk2311 6:f1d948d2d6c1 303 //}
mawk2311 4:09c68df71785 304
mawk2311 6:f1d948d2d6c1 305 //Save current direction as previous direction
mawk2311 5:20223464f7aa 306 prevDir = currDir;
mawk2311 0:ad375c052b4c 307
mawk2311 6:f1d948d2d6c1 308 //Prepare to start collecting more data
mawk2311 0:ad375c052b4c 309 integrationCounter = 150;
mawk2311 6:f1d948d2d6c1 310
mawk2311 6:f1d948d2d6c1 311 //Disable interrupts
mawk2311 6:f1d948d2d6c1 312 //interrupt.fall(NULL);
mawk2311 6:f1d948d2d6c1 313 //interrupt.rise(NULL);
mawk2311 6:f1d948d2d6c1 314
mawk2311 6:f1d948d2d6c1 315 //Stop timer
mawk2311 6:f1d948d2d6c1 316 //t.stop();
mawk2311 0:ad375c052b4c 317 }
mawk2311 0:ad375c052b4c 318 else{
mawk2311 0:ad375c052b4c 319 clk = 1;
mawk2311 14:888495814f3c 320 wait_us(intTimMod);
mawk2311 3:e867c4e984df 321 ADCdata[integrationCounter - 1] = camData;
mawk2311 0:ad375c052b4c 322 clk = 0;
mawk2311 0:ad375c052b4c 323 }
mawk2311 0:ad375c052b4c 324
mawk2311 0:ad375c052b4c 325 //clk = 0;
mawk2311 0:ad375c052b4c 326 integrationCounter++;
mawk2311 10:e40ad924e935 327 if(dataCol){
mawk2311 10:e40ad924e935 328 loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime++;
mawk2311 10:e40ad924e935 329 }
mawk2311 0:ad375c052b4c 330 //camData.
mawk2311 0:ad375c052b4c 331
mawk2311 0:ad375c052b4c 332 }
mawk2311 10:e40ad924e935 333 if (dataCol){
mawk2311 10:e40ad924e935 334 //print frame data
mawk2311 10:e40ad924e935 335 pc.printf("printing frame data\n\r");
mawk2311 10:e40ad924e935 336 //int frameSize = frames.size();
mawk2311 10:e40ad924e935 337 //pc.printf("%i",frameSize);
mawk2311 10:e40ad924e935 338 pc.printf("[");
mawk2311 10:e40ad924e935 339 for(int i=0; i<numData; i++){
mawk2311 10:e40ad924e935 340 if(lineCenters > 0){
mawk2311 10:e40ad924e935 341 pc.printf("%i %i,",lineCenters[i], times[i]);
mawk2311 10:e40ad924e935 342 }
ericoneill 7:6d5ddcf12cf3 343 }
mawk2311 10:e40ad924e935 344 pc.printf("]\n\r");
ericoneill 7:6d5ddcf12cf3 345 }
mawk2311 0:ad375c052b4c 346 }
ericoneill 9:ad08181ad1cc 347