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Dependencies: camera mbed tsi_sensor
Fork of Car2 by
Diff: main.cpp
- Revision:
- 21:18f2dc256df2
- Parent:
- 20:ebdfeb37309c
- Child:
- 22:9ef4a01e5038
--- a/main.cpp Tue Apr 11 20:25:51 2017 +0000
+++ b/main.cpp Tue Apr 11 20:57:17 2017 +0000
@@ -109,35 +109,41 @@
bool lookForDark = false;
int darkBlockSize = 0;
int darkBlocks = 0;
- int lightGap = 0;
+ int lightGapSize = 0;
+ int minLightGap = 1;
+ int maxLightGap = 55;
+ int minDarkBlock = 4;
+ int maxDarkBlock = 40;
for(int i = 0; i < 128; i++){
if(lookForDark){
-
- if(true){
- if(frame[i] < threshold){
- darkBlockSize++;
- if(darkBlockSize > 4){ //minimum size for a dark block
- darkBlocks++;
- lookForDark = false;
- darkBlockSize = 0;
- }
+ if(frame[i] < threshold){
+ darkBlockSize++;
+ }
+ else{
+ if(darkBlockSize > minDarkBlock && darkBlockSize < maxDarkBlock){
+ darkBlocks++;
+ lookForDark = false;
+ darkBlockSize = 0;
+ lightGapSize = 1;
}
- else if(frame[i] > threshold){
+ else{
darkBlockSize = 0;
}
}
- if(!lookForDark){
- if(frame[i] > threshold){
- lightGap++;
+ }
+ if(!lookForDark){
+ if(frame[i] > threshold){
+ lightGapSize++;
+ }
+ else{
+ if(lightGapSize > minLightGap && lightGapSize < maxLightGap){
+ lookForDark = true;
+ minLightGap = 20;
+ lightGapSize = 0;
+ darkBlockSize = 1;
}
else{
- if(lightGap > 20 && lightGap < 55){
- lookForDark = true;
- lightGap = 0;
- }
- else{
- lightGap = 0;
- }
+ lightGapSize = 0;
}
}
}
