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Dependencies:   mbed MODSERIAL telemetry-master

Fork of coolcarsuperfast by Michael Romain

main.cpp@19:d9746cc2ec80, 2015-04-28 (annotated)

Committer:
mawk2311
Date:
Tue Apr 28 17:13:33 2015 +0000
Revision:
19:d9746cc2ec80
Parent:
18:7941524e0d28
Child:
22:21ec3ac3b8ea
Child:
23:bf38d7d2255a
Added some of the values that need to be tuned due to varying lighting conditions as variables towards the top of the file. Also got rid of all of the code that we weren't using (old linetracking function, velocity control, encoder stuff, etc.)

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 19:d9746cc2ec80 88 float pulsewidth = 0.14f;
mawk2311 19:d9746cc2ec80 89 int intTimMod = 0;
mawk2311 19:d9746cc2ec80 90 int maxValThresh = .1; //~.1 for earlier in the day, reduce it (maybe something like .05 - .01 or something) as it gets darker
mawk2311 19:d9746cc2ec80 91 bool turnSpeedControl = false; //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