Diff: commHeaders/SPIcommFunctions.h

Revision:

1:469063631a05

Parent:

0:2c144b6813d1

Child:

2:045cc9f995ae

--- a/commHeaders/SPIcommFunctions.h	Mon Mar 19 21:18:40 2018 +0000
+++ b/commHeaders/SPIcommFunctions.h	Tue May 01 22:45:34 2018 +0000
@@ -12,7 +12,7 @@
 //=========================================================================
 int16_t deltaX = 0;                                 //Stores X-axis output data.
 int16_t deltaY = 0;                                 //Stores Y-axis output data.
-
+int16_t totalX, totalY = 0;                         //Stores the total deltaX and deltaY moved during runtime.
 uint8_t frameCounter = 0;                           //Looping variable to track when we have grabbed 8 frames of data.
 uint16_t imageQuality[8];                           //Stores 8 frames of image data to determine when quality changes to a point where we need to switch modes (LED/laser).
 uint16_t imageQuality_total = 0;                    //Stores the sum of all raw values from the 8 frames from imageQuality[8].
@@ -117,48 +117,30 @@
             imageQuality_total = imageQuality_total + imageQuality[i];
         }
         
-        if(imageQualityOK == 0 && imageQuality_total > LED2laser_threshold) //If imageQuality is over 0x500, we can continue to select the proper mode.
+        if(mode == 1 && imageQuality_total < LED2laser_threshold)       //Check the condition for when we need to change to laser.
         {
-            imageQualityOK = 1;
+            load(modeLaser, modeLaser_size);        //Loads the register array that has the settings for laser mode.
+            mode = 0;                               //Sets the mode-tracker to be 0 to reflect laser mode.
+            LDP = 0;                                //Sets the laser diode GPIO pin to be LOW (active because of PMOS pull-up).
+            wait_ms(40);                            //Delay for timing.
+            writeRegister(0x03, 0x00);              //Unlisted...
             
-        }
-        
-        if(mode == 0 && imageQuality_total < LED2laser_threshold)  //If image quality is too low even with brighter laser setting, LED/laser states will keep oscillating and sensor can't function.
-        {
-            imageQualityOK = 0;
-            pc.printf("Image quality too low! Value: %4X\n\r", imageQuality_total);
+            //pc.printf("Image Quality: %4X\n\r", imageQuality_total);
+            //pc.printf("Now in laser mode. Value of 'mode': %1X\n\r", mode);                
+            //Uncomment these lines and the other print lines below for debugging. Prints image quality and tracks mode-switches.
         }
         
-        
-        if(imageQualityOK)
+        if(mode == 0 && imageQuality_total < laser2LED_threshold)  //Check the condition for when we need to change to LED.
         {
-            pc.printf("Image quality OK! Value: %4X\n\r", imageQuality_total);
+            load(modeLED, modeLED_size);            //Loads the register array that has the settings for LED mode.
+            mode = 1;                               //Sets the mode-tracker to be 1 to reflect LED mode.
+            LDP = 1;                                //Sets the laser diode GPIO pin to be HIGH (inactive because of PMOS pull-up).
+            wait_ms(40);                            //Delay for timing.
+            writeRegister(0x03, 0x00);              //Unlisted...
             
-            if(mode == 1 && imageQuality_total < LED2laser_threshold)       //Check the condition for when we need to change to laser.
-            {
-                load(modeLaser, modeLaser_size);        //Loads the register array that has the settings for laser mode.
-                mode = 0;                               //Sets the mode-tracker to be 0 to reflect laser mode.
-                LDP = 0;                                //Sets the laser diode GPIO pin to be LOW (active because of PMOS pull-up).
-                wait_ms(40);                            //Delay for timing.
-                writeRegister(0x03, 0x00);              //Delta_XL?????? TRY TO FIND OUT WHAT THIS REGISTER IS FOR**********************************************************
-                
-                //pc.printf("Image Quality: %4X\n\r", imageQuality_total);
-                //pc.printf("Now in laser mode. Value of 'mode': %1X\n\r", mode);
-                //Uncomment these lines and the other print lines below for debugging. Prints image quality and tracks mode-switches.
-            }
-            
-            if(mode == 0 && imageQuality_total < laser2LED_threshold)  //Check the condition for when we need to change to LED.
-            {
-                load(modeLED, modeLED_size);            //Loads the register array that has the settings for LED mode.
-                mode = 1;                               //Sets the mode-tracker to be 1 to reflect LED mode.
-                LDP = 1;                                //Sets the laser diode GPIO pin to be HIGH (inactive because of PMOS pull-up).
-                wait_ms(40);                            //Delay for timing.
-                writeRegister(0x03, 0x00);              //Delta_XL?????? TRY TO FIND OUT WHAT THIS REGISTER IS FOR**********************************************************
-                
-                //pc.printf("Image Quality: %4X\n\r", imageQuality_total);
-                //pc.printf("Now in LED mode. Value of 'mode': %1X\n\r", mode);
-                //Uncomment these lines and the other print lines above for debugging. Prints image quality and tracks mode-switches.
-            }
+            //pc.printf("Image Quality: %4X\n\r", imageQuality_total);
+            //pc.printf("Now in LED mode. Value of 'mode': %1X\n\r", mode);
+            //Uncomment these lines and the other print lines above for debugging. Prints image quality and tracks mode-switches.
         }
     }
     
@@ -187,7 +169,11 @@
 {
     if((deltaX != 0) || (deltaY != 0))      //If there is deltaX or deltaY movement, print the data.
     {
-        pc.printf("deltaX: %d\t\t\tdeltaY: %d\n\r", deltaX, deltaY);
+        totalX += deltaX;
+        totalY += deltaY;
+        
+        pc.printf("deltaX: %d\t\t\tdeltaY: %d\n\r", deltaX, deltaY);    //Prints each individual count of deltaX and deltaY.
+        pc.printf("X-axis Counts: %d\t\tY-axis Counts: %d\n\r", totalX, totalY);  //Prints the total movement made during runtime.
     }
     
     deltaX = 0;                             //Resets deltaX and Y values to zero, otherwise previous data is stored until overwritten.