Diff: main.cpp

Revision:

26:f3d770f3eda1

Parent:

22:973b95478663

Child:

27:627d67e3b9b0

diff -r 973b95478663 -r f3d770f3eda1 main.cpp
--- a/main.cpp	Mon Dec 12 09:50:39 2016 +0000
+++ b/main.cpp	Thu Dec 15 10:05:07 2016 +0000
@@ -140,7 +140,7 @@
     diff = 0;
     prev = -1;
     for(i = 63; i > 0; i--) {
-        curr_left = (int8_t)(cam_data[i] >> 4) & 0xFF;              
+        curr_left = (uint8_t)(cam_data[i] >> 4) & 0xFF;              
         diff = prev - curr_left;
         if(abs(diff) >= CAM_DIFF && curr_left <= CAM_THRESHOLD && prev != -1) {
             l = i;
@@ -151,7 +151,7 @@
     
     prev = -1;
     for(i = 64; i < 128; i++) {
-        curr_right = (int8_t)(cam_data[i] >> 4) & 0xFF;
+        curr_right = (uint8_t)(cam_data[i] >> 4) & 0xFF;
         int diff = prev - curr_right;
         if(abs(diff) >= CAM_DIFF && curr_right <= CAM_THRESHOLD && prev != -1) {
             r = i;
@@ -319,23 +319,13 @@
     
     //v1:
     //Hacky way to detect the start/stop signal
-    if(right - left < 60) {
+    /*if(right - left < 60) {
         sendString("START STOP!!");
-        //lapTime();
-        //testSpeed(speed)
-        /*if(seen) {
-            seen = false;
-        } else {
-            startstop++;
-            seen = true;    
-        }    
 
-        if(startstop >= 1) {
-            */
         TFC_SetMotorPWM(0.f,0.f);
         TFC_HBRIDGE_DISABLE;
         startstop = 0;
-    }
+    }*/
         
     //----------------------------START/STOP v2-----------------------------
     //New method plan:
@@ -369,34 +359,35 @@
     //finishLeft:
     */
     
-    //v2.5:
-    /*
+    //v2.5:--------------
+    
     int slower = 0;
-    uint8_t difference = 0;
-    uint8_t lastPixel, currentPixel, transitionsSeen;
+    int difference = 0;
+    int lastPixel, currentPixel, transitionsSeen;
     lastPixel = -1;
     transitionsSeen = 0;
     //Starting  near the left edge, step right, counting transitions. If there are 4, it is the marker (what about 3?)
     for(int i = 30; i < 98; i++) {
-        currentPixel = (int8_t)(CLOSE_CAMERA[i] >> 4) & 0xFF;
+        currentPixel = (int)(CLOSE_CAMERA[i] >> 4) & 0xFF;
         difference = lastPixel - currentPixel;
-        if(abs(difference) > 150 && lastPixel != -1){ //transition seen, increment counter
+        if(abs(difference) > 20 && lastPixel != -1){ //transition seen, increment counter
             transitionsSeen++;
+            i+=5;
         }
         lastPixel = currentPixel;
     }
-    if (slower%100 == 0) {
-        sendString("Transitions seen: %d", transitionsSeen);
-    }
-    //if(transitionsSeen >= 3) {
+    //if (slower % 1000 == 0) {
+        //sendString("Transitions seen: %d", transitionsSeen);
+    //}
+    if(transitionsSeen >= 5) {
         //Stop the car!
-        //sendString("Start/stop seen");
-        //TFC_SetMotorPWM(0.f,0.f);
-        //TFC_HBRIDGE_DISABLE;
-    //}
+        sendString("Start/stop seen");
+        TFC_SetMotorPWM(0.f,0.f);
+        TFC_HBRIDGE_DISABLE;
+    }
     transitionsSeen = 0;
-    slower++;
-    */
+  //  slower++;
+    
 }