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Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
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Diff: ShapeDetect.cpp
- Revision:
- 6:75259c3306dd
- Parent:
- 3:b7b4780a7f6e
- Child:
- 8:77a57909aa15
--- a/ShapeDetect.cpp Fri Mar 14 22:15:58 2014 +0000 +++ b/ShapeDetect.cpp Wed Mar 19 17:05:35 2014 +0000 @@ -2,13 +2,16 @@ #include "ShapeDetect.h" LocalFileSystem local("local"); -Serial lrf(p13,p14); +Serial lrf(p13,p14); //LaserRangeFinder Camera extern Serial pc; /* variables used */ -unsigned char image[120][160]; -unsigned char pixel; + +//IMAGE PROCESSING +unsigned char image[120][160]; //image array +unsigned char pixel; + char lrfchar=0; unsigned int s_pixel[8]; int num_edges = 0, i=0, j=0; @@ -273,22 +276,22 @@ } -int shapeDetection_mass(void) +int shapeDetection(void) { - centerMass(&xcoord_val, &ycoord_val, &s_area_val); + /* centerMass(&xcoord_val, &ycoord_val, &s_area_val); pc.printf("\ncentriod calculated\n\r"); pc.printf("\nCenter of Mass is at X: %d Y: %d\n\r", xcoord_val, ycoord_val, s_area_val); - pc.printf("\nThe area of the Mass is: %d\n\r", s_area_val); + pc.printf("\nThe area of the Mass is: %d\n\r", s_area_val);*/ if(s_area_val > SQUARE_AREA_TRESHOLD) { pc.printf("\nSQUARE DETECTECD\n\r"); - return 3; + return 1; } else if (s_area_val < TRIANGE_AREA_TRESHOLD) { pc.printf("\nTRIANGLE DETECTECD\n\r"); - return 1; + return 2; } else { pc.printf("\nCIRCLE DETECTECD\n\r"); - return 2; + return 3; } } @@ -307,4 +310,11 @@ return mm_range; } +void centerCamWithTool(void){ + pc.printf("\nCENTER WITH TOOL\n\r"); + //CODE GOES HERE + + }; + +