E=MC / Mbed 2 deprecated e=mc

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Dependencies:   Servo mbed

main.cpp@13:f7ec3f026634, 2015-04-23 (annotated)

Committer:
ericoneill
Date:
Thu Apr 23 23:24:16 2015 +0000
Revision:
13:f7ec3f026634
Parent:
8:f3e0b4814888 
UPDATE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ericoneill 0:d328ecb3fbb1 1 #include "mbed.h"
ericoneill 13:f7ec3f026634 2 #include "stdlib.h"
ericoneill 13:f7ec3f026634 3 #include <vector>
ericoneill 13:f7ec3f026634 4 //Outputs
ericoneill 13:f7ec3f026634 5 DigitalOut led1(LED1);
ericoneill 13:f7ec3f026634 6 DigitalOut clk(PTD5);
ericoneill 13:f7ec3f026634 7 DigitalOut si(PTD4);
ericoneill 13:f7ec3f026634 8 PwmOut motor1(PTA12);
ericoneill 13:f7ec3f026634 9 PwmOut motor2(PTA4);
ericoneill 13:f7ec3f026634 10 DigitalOut break1(PTC7);
ericoneill 13:f7ec3f026634 11 DigitalOut break2(PTC0);
ericoneill 13:f7ec3f026634 12 PwmOut servo(PTA5);
ericoneill 0:d328ecb3fbb1 13
ericoneill 0:d328ecb3fbb1 14 Serial pc(USBTX, USBRX); // tx, rx
ericoneill 3:7eaf505f811e 15
ericoneill 13:f7ec3f026634 16 //Inputs
ericoneill 13:f7ec3f026634 17 AnalogIn camData(PTC2);
ericoneill 13:f7ec3f026634 18
ericoneill 13:f7ec3f026634 19 //Encoder setup and variables
ericoneill 3:7eaf505f811e 20 InterruptIn interrupt(PTA13);
ericoneill 4:263bddc51c0f 21
ericoneill 13:f7ec3f026634 22 //Line Tracking Variables --------------------------------
ericoneill 13:f7ec3f026634 23 float ADCdata [128];
ericoneill 13:f7ec3f026634 24 float maxAccum;
ericoneill 13:f7ec3f026634 25 float maxCount;
ericoneill 13:f7ec3f026634 26 float approxPos;
ericoneill 13:f7ec3f026634 27 float prevApproxPos;
ericoneill 13:f7ec3f026634 28 int trackWindow = 30;
ericoneill 13:f7ec3f026634 29 int startWindow;
ericoneill 13:f7ec3f026634 30 int endWindow;
ericoneill 13:f7ec3f026634 31 float maxVal;
ericoneill 13:f7ec3f026634 32 int maxLoc;
ericoneill 13:f7ec3f026634 33
ericoneill 13:f7ec3f026634 34 bool firstTime;
ericoneill 13:f7ec3f026634 35
ericoneill 13:f7ec3f026634 36 //Brightness accommodater
ericoneill 13:f7ec3f026634 37
ericoneill 13:f7ec3f026634 38
ericoneill 13:f7ec3f026634 39 //Data Collection
ericoneill 13:f7ec3f026634 40 bool dataCol = true;
ericoneill 13:f7ec3f026634 41 int loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime;
ericoneill 13:f7ec3f026634 42
ericoneill 13:f7ec3f026634 43 //Line Crossing variables
ericoneill 13:f7ec3f026634 44 int prevTrackLoc;
ericoneill 13:f7ec3f026634 45 int spaceThresh = 1;
ericoneill 13:f7ec3f026634 46 int widthThresh = 10;
ericoneill 13:f7ec3f026634 47 bool space;
ericoneill 13:f7ec3f026634 48
ericoneill 13:f7ec3f026634 49 //Servo turning parameters
ericoneill 13:f7ec3f026634 50 float straight = 0.00155f;
ericoneill 13:f7ec3f026634 51 float hardLeft = 0.0011f;
ericoneill 13:f7ec3f026634 52 float hardRight = 0.0021f;
ericoneill 13:f7ec3f026634 53 //float hardLeft = 0.0010f;
ericoneill 13:f7ec3f026634 54 //float hardRight = 0.00195f;
ericoneill 13:f7ec3f026634 55
ericoneill 13:f7ec3f026634 56 //Servo Directions
ericoneill 13:f7ec3f026634 57 float currDir;
ericoneill 13:f7ec3f026634 58 float prevDir;
ericoneill 13:f7ec3f026634 59
ericoneill 13:f7ec3f026634 60 // All linescan data for the period the car is running on. To be printed after a set amount of time
ericoneill 13:f7ec3f026634 61 //std::vector<std::vector<int> > frames;
ericoneill 13:f7ec3f026634 62 const int numData = 500;
ericoneill 13:f7ec3f026634 63 int lineCenters [numData] = {0};
ericoneill 13:f7ec3f026634 64 int times [numData] = {0};
ericoneill 13:f7ec3f026634 65 float pSteering [numData] = {0.0f};
ericoneill 13:f7ec3f026634 66 float pdSteering [numData] = {0.0f};
ericoneill 13:f7ec3f026634 67 int loopCtr = 0;
ericoneill 13:f7ec3f026634 68
ericoneill 13:f7ec3f026634 69 //End of Line Tracking Variables -------------------------
ericoneill 13:f7ec3f026634 70
ericoneill 13:f7ec3f026634 71 //Encoder and Motor Driver Variables ---------------------
ericoneill 13:f7ec3f026634 72
mawk2311 7:ea395616348c 73 //Intervals used during encoder data collection to measure velocity
ericoneill 4:263bddc51c0f 74 int interval1=0;
ericoneill 4:263bddc51c0f 75 int interval2=0;
ericoneill 4:263bddc51c0f 76 int interval3=0;
ericoneill 4:263bddc51c0f 77 int avg_interval=0;
ericoneill 4:263bddc51c0f 78 int lastchange1 = 0;
ericoneill 4:263bddc51c0f 79 int lastchange2 = 0;
ericoneill 4:263bddc51c0f 80 int lastchange3 = 0;
ericoneill 4:263bddc51c0f 81 int lastchange4 = 0;
mawk2311 5:61a0a21134f7 82
mawk2311 7:ea395616348c 83 //Variables used to for velocity control
mawk2311 7:ea395616348c 84 float avg_speed = 0;
ericoneill 13:f7ec3f026634 85 float last_speed = 0;
ericoneill 13:f7ec3f026634 86
mawk2311 7:ea395616348c 87 float stall_check = 0;
mawk2311 7:ea395616348c 88 float tuning_val = 1;
mawk2311 5:61a0a21134f7 89
ericoneill 13:f7ec3f026634 90 int numInterrupts = 0;
ericoneill 13:f7ec3f026634 91
ericoneill 13:f7ec3f026634 92 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~PWM & Integration Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ericoneill 13:f7ec3f026634 93 float pulsewidth = 0.14f;
ericoneill 13:f7ec3f026634 94 int intTimMod = 0;
ericoneill 13:f7ec3f026634 95 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ericoneill 13:f7ec3f026634 96 // Hardware periods
ericoneill 13:f7ec3f026634 97 float motorPeriod = .0025;
ericoneill 13:f7ec3f026634 98 float servoPeriod = .0025;
ericoneill 13:f7ec3f026634 99
ericoneill 1:8e5821dec0f7 100 Timer t;
ericoneill 8:f3e0b4814888 101 Timer servoTimer;
ericoneill 13:f7ec3f026634 102 Timer printTimer; //after printTimer reaches a certain value the main loop will terminate and print the frames
mawk2311 7:ea395616348c 103
mawk2311 7:ea395616348c 104 //Observed average speeds for each duty cycle
ericoneill 13:f7ec3f026634 105
ericoneill 4:263bddc51c0f 106 const float PI = 3.14159;
ericoneill 4:263bddc51c0f 107 const float WHEEL_CIRCUMFERENCE = .05*PI;
ericoneill 0:d328ecb3fbb1 108
mawk2311 7:ea395616348c 109 //Velocity Control Tuning Constants
mawk2311 7:ea395616348c 110 const float TUNE_THRESH = 0.5f;
mawk2311 7:ea395616348c 111 const float TUNE_AMT = 0.1f;
mawk2311 7:ea395616348c 112
mawk2311 7:ea395616348c 113 //Parameters specifying sample sizes and delays for small and large average speed samples
ericoneill 13:f7ec3f026634 114 float num_samples_small = 3.0f;
mawk2311 7:ea395616348c 115 float delay_small = 0.05f;
mawk2311 7:ea395616348c 116 float num_samples_large = 100.0f;
mawk2311 7:ea395616348c 117 float delay_large = 0.1f;
mawk2311 7:ea395616348c 118
ericoneill 13:f7ec3f026634 119 //Large and small arrays used to get average velocity values
mawk2311 7:ea395616348c 120 float large_avg_speed_list [100];
mawk2311 7:ea395616348c 121 float small_avg_speed_list [10];
mawk2311 7:ea395616348c 122
ericoneill 13:f7ec3f026634 123 //End of Encoder and Motor Driver Variables ----------------------
ericoneill 13:f7ec3f026634 124
ericoneill 13:f7ec3f026634 125 //Line Tracker Functions~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ericoneill 13:f7ec3f026634 126
ericoneill 13:f7ec3f026634 127 //PIDcontrol -----------------------------------------------------
ericoneill 13:f7ec3f026634 128 int centerSum = 0;
ericoneill 13:f7ec3f026634 129 int prevLineCenter = 0;
ericoneill 13:f7ec3f026634 130 int prevTime = 0;
ericoneill 13:f7ec3f026634 131 int p,i,d = 1;
ericoneill 13:f7ec3f026634 132 float timeDiff = 0.0f;
ericoneill 13:f7ec3f026634 133 float lastTime = 0.0f;
ericoneill 13:f7ec3f026634 134
ericoneill 13:f7ec3f026634 135 //Function for speeding up KL25Z ADC
ericoneill 13:f7ec3f026634 136 void initADC(void){
ericoneill 13:f7ec3f026634 137
ericoneill 13:f7ec3f026634 138 ADC0->CFG1 = ADC0->CFG1 & (
ericoneill 13:f7ec3f026634 139 ~(
ericoneill 13:f7ec3f026634 140 0x80 // LDLPC = 0 ; no low-power mode
ericoneill 13:f7ec3f026634 141 | 0x60 // ADIV = 1
ericoneill 13:f7ec3f026634 142 | 0x10 // Sample time short
ericoneill 13:f7ec3f026634 143 | 0x03 // input clock = BUS CLK
ericoneill 13:f7ec3f026634 144 )
ericoneill 13:f7ec3f026634 145 ) ; // clkdiv <= 1
ericoneill 13:f7ec3f026634 146 ADC0->CFG2 = ADC0->CFG2
ericoneill 13:f7ec3f026634 147 | 0x03 ; // Logsample Time 11 = 2 extra ADCK
ericoneill 13:f7ec3f026634 148 ADC0->SC3 = ADC0->SC3
ericoneill 13:f7ec3f026634 149 & (~(0x03)) ; // hardware avarage off
ericoneill 13:f7ec3f026634 150 }
ericoneill 13:f7ec3f026634 151
ericoneill 13:f7ec3f026634 152
ericoneill 13:f7ec3f026634 153 // Encoder and Motor Driver Functions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ericoneill 13:f7ec3f026634 154
ericoneill 13:f7ec3f026634 155 float PIDcontrol(int lineCenter){
ericoneill 13:f7ec3f026634 156 //centerSum += lineCenter;
ericoneill 13:f7ec3f026634 157 float newTime = t.read();
ericoneill 13:f7ec3f026634 158 timeDiff = newTime - lastTime;
ericoneill 13:f7ec3f026634 159 lastTime = newTime;
ericoneill 13:f7ec3f026634 160 float lineDif = ((float)prevLineCenter - (float)lineCenter)/(float) timeDiff;
ericoneill 13:f7ec3f026634 161 return p * lineCenter + d * lineDif;
ericoneill 13:f7ec3f026634 162
ericoneill 4:263bddc51c0f 163 }
mawk2311 5:61a0a21134f7 164
ericoneill 13:f7ec3f026634 165 int main() {
ericoneill 13:f7ec3f026634 166
ericoneill 13:f7ec3f026634 167 //Alter reg values to speed up KL25Z
ericoneill 13:f7ec3f026634 168 initADC();
mawk2311 5:61a0a21134f7 169
ericoneill 13:f7ec3f026634 170 //Line Tracker Initializations
ericoneill 13:f7ec3f026634 171 int integrationCounter = 0;
ericoneill 13:f7ec3f026634 172
ericoneill 13:f7ec3f026634 173 //Initial values for directions
ericoneill 13:f7ec3f026634 174 currDir = 0;
ericoneill 13:f7ec3f026634 175 prevDir = 0;
mawk2311 5:61a0a21134f7 176
ericoneill 13:f7ec3f026634 177 // Motor Driver Initializations
ericoneill 13:f7ec3f026634 178 motor1.period(motorPeriod);
ericoneill 13:f7ec3f026634 179 motor2.period(motorPeriod);
ericoneill 13:f7ec3f026634 180
ericoneill 13:f7ec3f026634 181 // Servo Initialization
ericoneill 13:f7ec3f026634 182 servo.period(servoPeriod);
ericoneill 13:f7ec3f026634 183 servo.pulsewidth(hardRight);
ericoneill 13:f7ec3f026634 184 wait(3);
ericoneill 13:f7ec3f026634 185
ericoneill 13:f7ec3f026634 186 motor1.pulsewidth(motorPeriod*pulsewidth);
ericoneill 13:f7ec3f026634 187 motor2.pulsewidth(motorPeriod*pulsewidth);
ericoneill 13:f7ec3f026634 188 break1 = 0;
ericoneill 13:f7ec3f026634 189 break2 = 0;
ericoneill 13:f7ec3f026634 190
ericoneill 13:f7ec3f026634 191 firstTime = true;
ericoneill 13:f7ec3f026634 192
ericoneill 13:f7ec3f026634 193 t.start();
ericoneill 13:f7ec3f026634 194
ericoneill 13:f7ec3f026634 195 if(dataCol){
ericoneill 13:f7ec3f026634 196 loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime = 0;
ericoneill 13:f7ec3f026634 197 printTimer.start();
ericoneill 13:f7ec3f026634 198 }
ericoneill 13:f7ec3f026634 199
ericoneill 13:f7ec3f026634 200 while(1) {
ericoneill 13:f7ec3f026634 201 if(dataCol){
ericoneill 13:f7ec3f026634 202 //break out of main loop if enough time has passed;
ericoneill 13:f7ec3f026634 203 //pc.printf("%i", loopCtr);
ericoneill 13:f7ec3f026634 204 if(loopCtr >= numData){
ericoneill 13:f7ec3f026634 205 break;
mawk2311 7:ea395616348c 206 }
mawk2311 5:61a0a21134f7 207 }
ericoneill 13:f7ec3f026634 208 if(integrationCounter % 151== 0){
ericoneill 13:f7ec3f026634 209 /*
ericoneill 13:f7ec3f026634 210 //Disable interrupts
ericoneill 13:f7ec3f026634 211 interrupt.fall(NULL);
ericoneill 13:f7ec3f026634 212 interrupt.rise(NULL);
ericoneill 13:f7ec3f026634 213 */
ericoneill 13:f7ec3f026634 214
ericoneill 13:f7ec3f026634 215 //Send start of integration signal
ericoneill 13:f7ec3f026634 216 si = 1;
ericoneill 13:f7ec3f026634 217 clk = 1;
ericoneill 13:f7ec3f026634 218
ericoneill 13:f7ec3f026634 219 si = 0;
ericoneill 13:f7ec3f026634 220 clk = 0;
ericoneill 13:f7ec3f026634 221
ericoneill 13:f7ec3f026634 222 //Reset timing counter for integration
ericoneill 13:f7ec3f026634 223 integrationCounter = 0;
ericoneill 13:f7ec3f026634 224
ericoneill 13:f7ec3f026634 225 //Reset line tracking variables
ericoneill 13:f7ec3f026634 226 maxAccum = 0;
ericoneill 13:f7ec3f026634 227 maxCount = 0;
ericoneill 13:f7ec3f026634 228 approxPos = 0;
ericoneill 13:f7ec3f026634 229
ericoneill 13:f7ec3f026634 230 space = false;
mawk2311 5:61a0a21134f7 231
ericoneill 13:f7ec3f026634 232 }
ericoneill 13:f7ec3f026634 233 else if (integrationCounter > 129){
ericoneill 13:f7ec3f026634 234 //Start Timer
ericoneill 13:f7ec3f026634 235 //t.start();
ericoneill 13:f7ec3f026634 236
ericoneill 13:f7ec3f026634 237 //Enable interrupts
ericoneill 13:f7ec3f026634 238 //interrupt.fall(&fallInterrupt);
ericoneill 13:f7ec3f026634 239 //interrupt.rise(&riseInterrupt);
ericoneill 13:f7ec3f026634 240
ericoneill 13:f7ec3f026634 241 if (firstTime){
ericoneill 13:f7ec3f026634 242
ericoneill 13:f7ec3f026634 243 maxVal = ADCdata[10];
ericoneill 13:f7ec3f026634 244 for (int c = 11; c < 118; c++) {
ericoneill 13:f7ec3f026634 245 if (ADCdata[c] > maxVal){
ericoneill 13:f7ec3f026634 246 maxVal = ADCdata[c];
ericoneill 13:f7ec3f026634 247 maxLoc = c;
ericoneill 13:f7ec3f026634 248 }
ericoneill 13:f7ec3f026634 249 }
ericoneill 13:f7ec3f026634 250
ericoneill 13:f7ec3f026634 251 for (int c = 10; c < 118; c++) {
ericoneill 13:f7ec3f026634 252 if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.007f){
ericoneill 13:f7ec3f026634 253 maxAccum += c;
ericoneill 13:f7ec3f026634 254 maxCount++;
ericoneill 13:f7ec3f026634 255 if (c > prevTrackLoc + spaceThresh || maxCount > widthThresh){
ericoneill 13:f7ec3f026634 256 space = true;
ericoneill 13:f7ec3f026634 257 }
ericoneill 13:f7ec3f026634 258 prevTrackLoc = c;
ericoneill 13:f7ec3f026634 259 }
ericoneill 13:f7ec3f026634 260 }
ericoneill 13:f7ec3f026634 261
ericoneill 13:f7ec3f026634 262 firstTime = false;
ericoneill 13:f7ec3f026634 263 } else {
ericoneill 13:f7ec3f026634 264
ericoneill 13:f7ec3f026634 265 startWindow = prevApproxPos - trackWindow;
ericoneill 13:f7ec3f026634 266 endWindow = prevApproxPos + trackWindow;
ericoneill 13:f7ec3f026634 267 if (startWindow < 0){
ericoneill 13:f7ec3f026634 268 startWindow = 0;
ericoneill 13:f7ec3f026634 269 }
ericoneill 13:f7ec3f026634 270 if (endWindow > 118){
ericoneill 13:f7ec3f026634 271 endWindow = 118;
ericoneill 13:f7ec3f026634 272 }
ericoneill 13:f7ec3f026634 273 maxVal = ADCdata[10];
ericoneill 13:f7ec3f026634 274 for (int c = startWindow; c < endWindow; c++) {
ericoneill 13:f7ec3f026634 275 if (ADCdata[c] > maxVal){
ericoneill 13:f7ec3f026634 276 maxVal = ADCdata[c];
ericoneill 13:f7ec3f026634 277 maxLoc = c;
ericoneill 13:f7ec3f026634 278 }
ericoneill 13:f7ec3f026634 279 }
ericoneill 13:f7ec3f026634 280
ericoneill 13:f7ec3f026634 281 for (int c = startWindow; c < endWindow; c++) {
ericoneill 13:f7ec3f026634 282 if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.007f){
ericoneill 13:f7ec3f026634 283 maxAccum += c;
ericoneill 13:f7ec3f026634 284 maxCount++;
ericoneill 13:f7ec3f026634 285 if (c > prevTrackLoc + spaceThresh || maxCount > widthThresh){
ericoneill 13:f7ec3f026634 286 space = true;
ericoneill 13:f7ec3f026634 287 }
ericoneill 13:f7ec3f026634 288 prevTrackLoc = c;
ericoneill 13:f7ec3f026634 289 }
ericoneill 13:f7ec3f026634 290 }
ericoneill 13:f7ec3f026634 291 }
ericoneill 13:f7ec3f026634 292 /*
ericoneill 13:f7ec3f026634 293 //Check if we need to alter integration time due to brightness
ericoneill 13:f7ec3f026634 294 if (maxVal < 0.15f){
ericoneill 13:f7ec3f026634 295 intTimMod += 10;
ericoneill 13:f7ec3f026634 296 } else if (maxVal >= 1) {
ericoneill 13:f7ec3f026634 297 if (intTimMod > 0) {
ericoneill 13:f7ec3f026634 298 intTimMod -= 10;
ericoneill 13:f7ec3f026634 299 }
ericoneill 13:f7ec3f026634 300 }
ericoneill 13:f7ec3f026634 301 */
ericoneill 13:f7ec3f026634 302
ericoneill 13:f7ec3f026634 303 //Line Crossing Checks
ericoneill 13:f7ec3f026634 304 if (space) {
ericoneill 13:f7ec3f026634 305 currDir = prevDir;
ericoneill 13:f7ec3f026634 306 firstTime = true;
ericoneill 13:f7ec3f026634 307 } else {
ericoneill 13:f7ec3f026634 308 approxPos = (float)maxAccum/(float)maxCount;
ericoneill 13:f7ec3f026634 309
ericoneill 13:f7ec3f026634 310 if(dataCol){
ericoneill 13:f7ec3f026634 311 if(loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime%6==0){
ericoneill 13:f7ec3f026634 312 lineCenters[loopCtr] = approxPos;
ericoneill 13:f7ec3f026634 313 times[loopCtr] = printTimer.read_ms();
ericoneill 13:f7ec3f026634 314 pSteering[loopCtr] = currDir;
ericoneill 13:f7ec3f026634 315 pSteering[loopCtr] = PIDcontrol(approxPos);
ericoneill 13:f7ec3f026634 316 loopCtr++;
ericoneill 13:f7ec3f026634 317 }
ericoneill 13:f7ec3f026634 318 }
ericoneill 13:f7ec3f026634 319
ericoneill 13:f7ec3f026634 320 currDir = hardLeft + (approxPos)/((float) 127)*(hardRight-hardLeft);
ericoneill 13:f7ec3f026634 321 prevApproxPos = approxPos;
ericoneill 13:f7ec3f026634 322
ericoneill 13:f7ec3f026634 323 }
ericoneill 13:f7ec3f026634 324
ericoneill 13:f7ec3f026634 325 servo.pulsewidth(currDir);
ericoneill 13:f7ec3f026634 326
ericoneill 13:f7ec3f026634 327 //Start Velocity control after requisite number of encoder signals have been collected
ericoneill 13:f7ec3f026634 328 //if(numInterrupts >= 4){
ericoneill 13:f7ec3f026634 329 //velocity_control(0.1f, TUNING_CONSTANT_10);
ericoneill 13:f7ec3f026634 330 //}
ericoneill 13:f7ec3f026634 331
ericoneill 13:f7ec3f026634 332 //Save current direction as previous direction
ericoneill 13:f7ec3f026634 333 prevDir = currDir;
ericoneill 13:f7ec3f026634 334
ericoneill 13:f7ec3f026634 335 //Prepare to start collecting more data
ericoneill 13:f7ec3f026634 336 integrationCounter = 150;
ericoneill 13:f7ec3f026634 337
ericoneill 13:f7ec3f026634 338 //Disable interrupts
ericoneill 13:f7ec3f026634 339 //interrupt.fall(NULL);
ericoneill 13:f7ec3f026634 340 //interrupt.rise(NULL);x
ericoneill 13:f7ec3f026634 341
ericoneill 13:f7ec3f026634 342 //Stop timer
ericoneill 13:f7ec3f026634 343 //t.stop();
ericoneill 13:f7ec3f026634 344 }
ericoneill 13:f7ec3f026634 345 else{
ericoneill 13:f7ec3f026634 346 clk = 1;
ericoneill 13:f7ec3f026634 347 wait_us(intTimMod);
ericoneill 13:f7ec3f026634 348 ADCdata[integrationCounter - 1] = camData;
ericoneill 13:f7ec3f026634 349 clk = 0;
ericoneill 13:f7ec3f026634 350 }
ericoneill 13:f7ec3f026634 351
ericoneill 13:f7ec3f026634 352 //clk = 0;
ericoneill 13:f7ec3f026634 353 integrationCounter++;
ericoneill 13:f7ec3f026634 354 if(dataCol){
ericoneill 13:f7ec3f026634 355 loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime++;
ericoneill 13:f7ec3f026634 356 }
ericoneill 13:f7ec3f026634 357 //camData.
ericoneill 13:f7ec3f026634 358
mawk2311 7:ea395616348c 359 }
ericoneill 13:f7ec3f026634 360 if (dataCol){
ericoneill 13:f7ec3f026634 361 //print frame data
ericoneill 13:f7ec3f026634 362 pc.printf("printing frame data\n\r");
ericoneill 13:f7ec3f026634 363 //int frameSize = frames.size();
ericoneill 13:f7ec3f026634 364 //pc.printf("%i",frameSize);
ericoneill 13:f7ec3f026634 365 pc.printf("[");
ericoneill 13:f7ec3f026634 366 for(int i=0; i<numData; i++){
ericoneill 13:f7ec3f026634 367 if(lineCenters > 0){
ericoneill 13:f7ec3f026634 368 pc.printf("%i %i %f %f,",lineCenters[i], times[i], pSteering[i], pdSteering[i]);
ericoneill 13:f7ec3f026634 369 }
ericoneill 13:f7ec3f026634 370 }
ericoneill 13:f7ec3f026634 371 pc.printf("]\n\r");
ericoneill 0:d328ecb3fbb1 372 }
ericoneill 0:d328ecb3fbb1 373 }
mawk2311 7:ea395616348c 374