car using PID from centre line

Dependencies:   FRDM-TFC mbed CBuffer XBEE mbed_angular_speed motor2 MMA8451Q

Fork of KL25Z_Camera_Test by GDP 4

Revision:
0:566127ca8048
Child:
1:a4883d9c75ec
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 14 10:56:56 2016 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "TFC.h"
+#define CAM_THRESHOLD 3000
+ 
+ 
+DigitalOut myled(LED1);
+ 
+int main() {
+    TFC_Init();
+    
+    uint32_t i,t = 0;
+    //uint32_t width = 0;
+    char curr_line[129];
+    
+    /* Ensure string is null terminated */
+    curr_line[128] = 0; 
+ 
+    
+    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;
+                printf("\r\n");
+                //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);
+                   
+                for(i = 0; i < 128; i++) {
+                    curr_line[i] = (int8_t)(TFC_LineScanImage0[i] >> 4) & 0xFF;
+                    printf("%02x", curr_line[i]);
+                }
+                printf("\n");
+                //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';
+                       width++; //Increment the width value
+                   }
+                   //Else, print a 0
+                   else
+                   {
+                      curr_line[i] = '0';  
+                   }
+               }
+               printf("%s\n",curr_line);
+                
+                printf("Width: %d\n", width);
+                width = 0;
+                */
+                   
+               }
+    }
+}
\ No newline at end of file