File content as of revision 2:4b6f6fc84793:

#include "mbed.h"
#include "TFC.h"
#define CAM_THRESHOLD 3000
 
Serial pc(USBTX,USBRX); 
DigitalOut myled(LED1);
 
int main() {
    //Serial config
    pc.baud(57600);
    
    
    TFC_Init();
    
    uint32_t i,t = 0;
    //uint32_t width = 0;
    char curr_line[129];
    int leftSide, rightSide;
    float centreOffset;
    
    /* Ensure string is null terminated */
    curr_line[128] = 0; 
    
    
    char thres_line[16];
    for(i = 0; i < 16; i++) {
        thres_line[i] = 0;
    }
 
    
    pc.printf("Starting camera test program\n");
    
    while(1) {
        //If we have an image ready
        if(TFC_LineScanImageReady>0)
            {
                //Reset image ready flag
                TFC_LineScanImageReady=0;
                pc.printf("\r\n");
                //pc.printf("L:");
                
                //Strange thing that cycles the battery indicator
                //Leaving in as this is a good indicator that the camera test program is running
                if(t==4)
                    t=0;
                else
                    t++;
                TFC_SetBatteryLED_Level(t);
                
                //Byte sending
                //for(i = 0; i < 128; i++) {
                    //curr_line[i] = (int8_t)(TFC_LineScanImage0[i] >> 4) & 0xFF;
                    //pc.printf("%02x", curr_line[i]);
                //}
                pc.printf("\n");
                
                
                                    //NEW CENTRE DETECTION CODE
                //Centre of track detection
                //First, start at the centre of the 128 bit array
                //Moving left, start at 63 and move 63 steps left (to get to 0)
                //Moving right, start at 64 and move 63 steps right (to get to 127)
                
                //Move leftwards, stopping where we reach the edge of the track, and record the index where this occurred
                for (i = 63; i > 0; i--) {
                    if(TFC_LineScanImage0[i] < CAM_THRESHOLD) {
                        leftSide = i;
                        break;
                        }
                }
                
                //Then, move rightwards, stopping where we reach the edge of the track, record the index where this occurred
                for (i = 64; i < 127; i++) {
                    if(TFC_LineScanImage0[i] < CAM_THRESHOLD) {
                        rightSide = i;
                        break;
                        }
                }
                
                //centreOffset = (leftSide + rightSide)/2;
                centreOffset = (leftSide - rightSide) / 127;
                
                //Send offset over serial to hosted program
                pc.putc('E');
                pc.printf("%f", centreOffset);
                //pc.printf("centre: %d\n", centreOffset);
                                ///END OF NEW CODE
                
                
                //Old version below, we don't threshold on the FRDM board anymore
                //pc.printf("0x%x\n", curr_line);
               
               
               //Loop through camera pixels
               for(i=0;i<128;i++)
               {
                   //If the pixel value exceeds our threshold, print a 1
                   if (TFC_LineScanImage0[i] > CAM_THRESHOLD) 
                   {
                       //curr_line[i] = '1';
                       thres_line[i/8] |= 1 << (i%8);
                   }
                   //Else, print a 0
                   else
                   {
                      //curr_line[i] = '0';  
                   }
               }
               pc.putc('I');
                for(i = 0; i < 16; i++) {
                    pc.putc(thres_line[i]);
                }
                
                //pc.printf("Width: %d\n", width);
                //width = 0;
                
                   
               }
    }
}