E=MC / Mbed 2 deprecated linecam_practice

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Dependencies:   mbed

main.cpp@3:4ba3d22e50dc, 2015-03-12 (annotated)

Committer:
mawk2311
Date:
Thu Mar 12 05:58:00 2015 +0000
Revision:
3:4ba3d22e50dc
Parent:
2:f3eafd4d3705
Child:
4:a8dce9e269e5
Progress on Line-Camera control. Left, right, and straight directions calibrated. Still working on a tracking algorithm.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ericoneill 0:a7a8c6ef6d11 1 #include "mbed.h"
ericoneill 0:a7a8c6ef6d11 2
ericoneill 0:a7a8c6ef6d11 3 DigitalOut clk(PTA13);
ericoneill 1:c6fa316ce7d1 4 DigitalOut si(PTD4);
ericoneill 0:a7a8c6ef6d11 5 AnalogIn camData(PTC2);
mawk2311 3:4ba3d22e50dc 6 PwmOut servo(PTA5);
mawk2311 3:4ba3d22e50dc 7 Serial pc(USBTX, USBRX); // tx, rx
mawk2311 3:4ba3d22e50dc 8
mawk2311 3:4ba3d22e50dc 9 float ADCdata [128];
mawk2311 3:4ba3d22e50dc 10 float slopeAccum;
mawk2311 3:4ba3d22e50dc 11 float slopeCount;
mawk2311 3:4ba3d22e50dc 12 float approxPos;
mawk2311 3:4ba3d22e50dc 13 float minVal;
mawk2311 3:4ba3d22e50dc 14
mawk2311 3:4ba3d22e50dc 15 int peak1;
mawk2311 3:4ba3d22e50dc 16 int peak2;
mawk2311 3:4ba3d22e50dc 17
mawk2311 3:4ba3d22e50dc 18 float currSlope;
mawk2311 3:4ba3d22e50dc 19
mawk2311 3:4ba3d22e50dc 20 float straight = 0.00155f;
mawk2311 3:4ba3d22e50dc 21 float hardLeft = 0.0013f;
mawk2311 3:4ba3d22e50dc 22 float slightLeft = 0.00145f;
mawk2311 3:4ba3d22e50dc 23 float hardRight = 0.0018f;
mawk2311 3:4ba3d22e50dc 24 float slightRight = 0.00165f;
mawk2311 3:4ba3d22e50dc 25
ericoneill 0:a7a8c6ef6d11 26 int main() {
ericoneill 1:c6fa316ce7d1 27 int integrationCounter = 0;
mawk2311 3:4ba3d22e50dc 28
ericoneill 0:a7a8c6ef6d11 29 while(1) {
mawk2311 3:4ba3d22e50dc 30
mawk2311 3:4ba3d22e50dc 31 if(integrationCounter % 461== 0){
ericoneill 1:c6fa316ce7d1 32 si = 1;
ericoneill 2:f3eafd4d3705 33 clk = 1;
ericoneill 2:f3eafd4d3705 34 //wait(.00001);
ericoneill 1:c6fa316ce7d1 35 si = 0;
ericoneill 2:f3eafd4d3705 36 clk = 0;
mawk2311 3:4ba3d22e50dc 37 integrationCounter = 0;
mawk2311 3:4ba3d22e50dc 38
mawk2311 3:4ba3d22e50dc 39 slopeAccum = 0;
mawk2311 3:4ba3d22e50dc 40 slopeCount = 0;
mawk2311 3:4ba3d22e50dc 41 approxPos = 0;
mawk2311 3:4ba3d22e50dc 42 peak1 = 0;
mawk2311 3:4ba3d22e50dc 43 peak2 = 0;
mawk2311 3:4ba3d22e50dc 44
mawk2311 3:4ba3d22e50dc 45 }
mawk2311 3:4ba3d22e50dc 46 else if (integrationCounter > 129){
mawk2311 3:4ba3d22e50dc 47 for (int c = 0; c < 128; c++) {
mawk2311 3:4ba3d22e50dc 48 if (ADCdata[c+1] < ADCdata[c] && !peak1){
mawk2311 3:4ba3d22e50dc 49 peak1 = 1;
mawk2311 3:4ba3d22e50dc 50 minVal = ADCdata[c];
mawk2311 3:4ba3d22e50dc 51 } else if (ADCdata[c] < minVal && !peak2){
mawk2311 3:4ba3d22e50dc 52 minVal = ADCdata[c];
mawk2311 3:4ba3d22e50dc 53 } else if (ADCdata[c+1] < ADCdata[c] && !peak2){
mawk2311 3:4ba3d22e50dc 54 peak2 = 1;
mawk2311 3:4ba3d22e50dc 55 }
mawk2311 3:4ba3d22e50dc 56 }
mawk2311 3:4ba3d22e50dc 57 for (int c = 0; c < 128; c++) {
mawk2311 3:4ba3d22e50dc 58 if (ADCdata[c] > minVal && ADCdata[c] - minVal < 0.05f){
mawk2311 3:4ba3d22e50dc 59 slopeAccum += c;
mawk2311 3:4ba3d22e50dc 60 slopeCount++;
mawk2311 3:4ba3d22e50dc 61 }
mawk2311 3:4ba3d22e50dc 62 }
mawk2311 3:4ba3d22e50dc 63 approxPos = (float)slopeAccum/(float)slopeCount;
mawk2311 3:4ba3d22e50dc 64
mawk2311 3:4ba3d22e50dc 65 if(approxPos > 0 && approxPos <= 64){
mawk2311 3:4ba3d22e50dc 66 servo.pulsewidth(hardRight);
mawk2311 3:4ba3d22e50dc 67 } else if (approxPos > 64 && approxPos <= 128) {
mawk2311 3:4ba3d22e50dc 68 servo.pulsewidth(slightRight);
mawk2311 3:4ba3d22e50dc 69 }
mawk2311 3:4ba3d22e50dc 70
mawk2311 3:4ba3d22e50dc 71 /*
mawk2311 3:4ba3d22e50dc 72 if(approxPos > 0 && approxPos <= 16){
mawk2311 3:4ba3d22e50dc 73 servo.pulsewidth(hardRight);
mawk2311 3:4ba3d22e50dc 74 } else if (approxPos > 16 && approxPos <= 32) {
mawk2311 3:4ba3d22e50dc 75 servo.pulsewidth(slightRight);
mawk2311 3:4ba3d22e50dc 76 } else if (approxPos > 32 && approxPos <= 96) {
mawk2311 3:4ba3d22e50dc 77 servo.pulsewidth(straight);
mawk2311 3:4ba3d22e50dc 78 } else if (approxPos > 96 && approxPos <= 112) {
mawk2311 3:4ba3d22e50dc 79 servo.pulsewidth(slightLeft);
mawk2311 3:4ba3d22e50dc 80 } else if (approxPos > 112 && approxPos <= 128) {
mawk2311 3:4ba3d22e50dc 81 servo.pulsewidth(hardLeft);
mawk2311 3:4ba3d22e50dc 82 }
mawk2311 3:4ba3d22e50dc 83 */
mawk2311 3:4ba3d22e50dc 84 integrationCounter = 460;
ericoneill 0:a7a8c6ef6d11 85 }
ericoneill 2:f3eafd4d3705 86 else{
ericoneill 2:f3eafd4d3705 87 clk = 1;
mawk2311 3:4ba3d22e50dc 88 wait(.0000001);
mawk2311 3:4ba3d22e50dc 89 ADCdata[integrationCounter - 1] = camData;
ericoneill 2:f3eafd4d3705 90 clk = 0;
ericoneill 2:f3eafd4d3705 91 }
ericoneill 2:f3eafd4d3705 92
ericoneill 2:f3eafd4d3705 93 //clk = 0;
ericoneill 1:c6fa316ce7d1 94 integrationCounter++;
ericoneill 1:c6fa316ce7d1 95 //camData.
ericoneill 0:a7a8c6ef6d11 96
ericoneill 0:a7a8c6ef6d11 97 }
ericoneill 0:a7a8c6ef6d11 98 }