Diff: main.cpp

Revision:

3:7b0c215eb6a7

Parent:

2:f501e506d62b

Child:

4:1f443e7a0122

--- a/main.cpp	Fri Mar 31 22:24:46 2017 +0000
+++ b/main.cpp	Fri Mar 31 22:49:07 2017 +0000
@@ -57,7 +57,7 @@
     write2bytes(sen2, sen3); 
     write2bytes(0x33, 0x03); 
     write2bytes(0x30, 0x08);
-    wait(0.1);
+    //wait(0.1);
 
 }
 
@@ -72,35 +72,22 @@
     //get data from camera
     camera1.read(slaveAddress, data_buf, 16);
     
-    //print content of data buffer
-    for(int i = 0; i < 16; i++){
-        pc.printf(" data buf %d --> %c <--    \t as int --> %d <--\n", i, data_buf[i], (float) data_buf[i]);
-        
-    }
+//    //print content of data buffer
+//    for(int i = 0; i < 16; i++){
+//        pc.printf(" data buf %d --> %c <--    \t as int --> %d <--\n", i, data_buf[i], (float) data_buf[i]);
+//        
+//    }
    
-    
-    
+       
     
     //POINT 1
     //get data
     point1x = data_buf[1];
     point1y = data_buf[2];
     s = data_buf[3];
-    //load x,y
-    point1x += (s & 0x30) << 4;
-    point1y += (s & 0xC0) << 2;
-    
-    pc.printf("point1x %d <-- here\n", point1x);
-    
-    onex[0] = point1x;
-    oney[0] = point1y;
-    
-    //onex[0] = point1x + ((s & 0x30) << 4);
-    //oney[0] = point1y + ((s & 0xC0) << 2);
-    
-    
-
-    
+    //load x,y    
+    onex[0] = point1x + ((s & 0x30) << 4);
+    oney[0] = point1y + ((s & 0xC0) << 2);
     
     //POINT 2
     //get data
@@ -110,8 +97,7 @@
     //load x,y
     onex[1] = point2x + ((s & 0x30) << 4);
     oney[1] = point2y + ((s & 0xC0) << 2);
-    
-    
+      
     //POINT 3
     //get data
     point3x = data_buf[7];
@@ -121,7 +107,6 @@
     onex[2] = point3x + ((s & 0x30) << 4);
     oney[2] = point3y + ((s & 0xC0) << 2);
     
-    
     //POINT 4
     //get data
     point4x = data_buf[10];
@@ -139,55 +124,36 @@
         int y = ycor[i];
         //determine what to print
         //x coordinate
-        if(x < 1000){
-            pc.printf("");
-        }
-        if(x < 100){
-            pc.printf("");
-        }
-        if(x < 10){
-            pc.printf(" %d,", x);
-        }
+        pc.printf(" %d,", x);
         
         //y coordinate
-        if(y < 1000){
-            pc.printf("");
-        }
-        if(y < 100){
-            pc.printf("");
-        }
-        if(y < 10){
-            pc.printf(" %d", y);
-        }
-        
-        pc.printf("\t");        
+        pc.printf(" %d\t", y);  
     }
     
     //new line and delay
     pc.printf("\n");      
-    wait(0.1);
+    //wait(0.01);
 }
 
 int main() {
     myled = 0;
-    slaveAddress = IRsensorAddress >> 1;
+    //slaveAddress = IRsensorAddress >> 1;
+    slaveAddress = IRsensorAddress;
     initCamera();
     
+    //update baud rate
+    pc.baud(115200);
+    
     
     while(1) {
+        wait(0.01);
         myled = 1 - myled;
         
         //get the camera data
         readCameraData();
         
         //print points
-        printCamData(onex, oney);
-        
-        
-        
-        
-
-        
+        printCamData(onex, oney);  
         
     }
 }