fatboyslim / Mbed 2 deprecated bouncesinglecam

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Dependencies:   FRDM-TFC mbed

main.cpp@25:806e67a1218f, 2015-03-28 (annotated)

Committer:
bbbobbbieo
Date:
Sat Mar 28 20:53:49 2015 +0000
Revision:
25:806e67a1218f
Parent:
23:a141ca857b8f
Child:
27:aa81c15e5c1d
reverted back to code that ran the track well. added a stop function for end line detection;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bbbobbbieo 0:bf39986ebff7 1 //#include "mbed.h"
bbbobbbieo 0:bf39986ebff7 2 #include "TFC.h"
bbbobbbieo 0:bf39986ebff7 3 #include <iostream>
bbbobbbieo 0:bf39986ebff7 4 #include <stdio.h>
bbbobbbieo 0:bf39986ebff7 5 //#include "serialib.h"
bbbobbbieo 0:bf39986ebff7 6
bbbobbbieo 0:bf39986ebff7 7 const float AGGRESSIVE = .55;
bbbobbbieo 25:806e67a1218f 8 const float MODERATE =.48;
bbbobbbieo 25:806e67a1218f 9 const float CONSERVATIVE =.39;
bbbobbbieo 0:bf39986ebff7 10 const float STOP =0;
bbbobbbieo 0:bf39986ebff7 11 const float PROTECTION_THRESHOLD_UPPER =.7;
bbbobbbieo 0:bf39986ebff7 12 const float PROTECTION_THRESHOLD_LOWER =-.7;
bbbobbbieo 0:bf39986ebff7 13 const float TURN_FORWARD_ACCEL =0.045;
bbbobbbieo 0:bf39986ebff7 14 const float TURN_BACKWARD_ACCEL =0.025;
bbbobbbieo 0:bf39986ebff7 15 const float SERVO_CAN_MOVE_IN_ONE_FRAME =0.1;
bbbobbbieo 0:bf39986ebff7 16 const float SERVO_MAX =.5;
bbbobbbieo 0:bf39986ebff7 17
bbbobbbieo 0:bf39986ebff7 18 const int BLACK_THRESHOLD =63;
bbbobbbieo 0:bf39986ebff7 19 const int LINE_SCAN_LENGTH =128;
bbbobbbieo 0:bf39986ebff7 20
bbbobbbieo 0:bf39986ebff7 21
bbbobbbieo 0:bf39986ebff7 22 DigitalOut myled(LED1);
bbbobbbieo 0:bf39986ebff7 23
bbbobbbieo 0:bf39986ebff7 24 int main()
bbbobbbieo 0:bf39986ebff7 25 {
bbbobbbieo 0:bf39986ebff7 26 //run this before anything
bbbobbbieo 0:bf39986ebff7 27 TFC_Init();
bbbobbbieo 0:bf39986ebff7 28
bbbobbbieo 0:bf39986ebff7 29 //variables
bbbobbbieo 0:bf39986ebff7 30 float current_servo_position = 0;
bbbobbbieo 0:bf39986ebff7 31 float previous_servo_position = 0;
bbbobbbieo 0:bf39986ebff7 32 float current_left_motor_speed = 0;
bbbobbbieo 0:bf39986ebff7 33 float current_right_motor_speed = 0;
bbbobbbieo 0:bf39986ebff7 34
bbbobbbieo 0:bf39986ebff7 35 float proportional = 0;
bbbobbbieo 0:bf39986ebff7 36 float last_proportional = 0;
bbbobbbieo 0:bf39986ebff7 37 float integral = 0;
bbbobbbieo 0:bf39986ebff7 38 float derivative = 0;
bbbobbbieo 0:bf39986ebff7 39 float output = 0;
bbbobbbieo 0:bf39986ebff7 40
bbbobbbieo 0:bf39986ebff7 41 // gains on prop, int, der
bbbobbbieo 0:bf39986ebff7 42 // subject to change, need to fine tune
bbbobbbieo 0:bf39986ebff7 43 float kp = 1.8960;
bbbobbbieo 0:bf39986ebff7 44 float ki = 0.6170;
bbbobbbieo 0:bf39986ebff7 45 float kd = 1.5590;
bbbobbbieo 0:bf39986ebff7 46
bbbobbbieo 0:bf39986ebff7 47 bool rear_motor_enable_flag = true;
bbbobbbieo 0:bf39986ebff7 48 bool linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 49 bool linescan_enable = true;
bbbobbbieo 0:bf39986ebff7 50
bbbobbbieo 0:bf39986ebff7 51 int black_values_list[LINE_SCAN_LENGTH];
bbbobbbieo 0:bf39986ebff7 52 int black_value_count = 0;
bbbobbbieo 0:bf39986ebff7 53 int black_center_value = 0;
bbbobbbieo 0:bf39986ebff7 54 int sum_black = 0;
bbbobbbieo 0:bf39986ebff7 55 int violence_level = 0;
bbbobbbieo 0:bf39986ebff7 56
bbbobbbieo 0:bf39986ebff7 57 int accelList[3];
bbbobbbieo 0:bf39986ebff7 58 int lastAccessed = 0;
bbbobbbieo 0:bf39986ebff7 59
bbbobbbieo 0:bf39986ebff7 60 int centers_List[50];
bbbobbbieo 0:bf39986ebff7 61
bbbobbbieo 0:bf39986ebff7 62 int center_now = 63;
bbbobbbieo 0:bf39986ebff7 63 int center_past_1 = 63;
bbbobbbieo 0:bf39986ebff7 64 int center_past_2 = 63;
bbbobbbieo 0:bf39986ebff7 65 int center_past_3 = 63;
bbbobbbieo 0:bf39986ebff7 66 int center_past_4 = 63;
bbbobbbieo 25:806e67a1218f 67 //int best_guess_center = 64;
bbbobbbieo 0:bf39986ebff7 68
bbbobbbieo 0:bf39986ebff7 69 int position = 0;
bbbobbbieo 0:bf39986ebff7 70 int set_point = 63;
bbbobbbieo 0:bf39986ebff7 71 int previous_error = 0;
bbbobbbieo 0:bf39986ebff7 72 int error = 0;
bbbobbbieo 0:bf39986ebff7 73
bbbobbbieo 0:bf39986ebff7 74 for(int i = 0; i < 50; i++)
bbbobbbieo 0:bf39986ebff7 75 centers_List[i] = 63;
bbbobbbieo 0:bf39986ebff7 76
bbbobbbieo 0:bf39986ebff7 77 float left_counter =0;
bbbobbbieo 0:bf39986ebff7 78 float right_counter =0;
bbbobbbieo 0:bf39986ebff7 79 bool turn_left=false;
bbbobbbieo 0:bf39986ebff7 80 bool turn_right=false;
bbbobbbieo 0:bf39986ebff7 81
bbbobbbieo 25:806e67a1218f 82 float bullshit_offset = .08;
bbbobbbieo 0:bf39986ebff7 83
bbbobbbieo 0:bf39986ebff7 84 // major loop
bbbobbbieo 0:bf39986ebff7 85 while(1) {
bbbobbbieo 0:bf39986ebff7 86
bbbobbbieo 25:806e67a1218f 87 // manual servo control, unused
bbbobbbieo 25:806e67a1218f 88 if (TFC_ReadPushButton(0) != 0 ) {
bbbobbbieo 25:806e67a1218f 89 current_servo_position = current_servo_position-.005;
bbbobbbieo 25:806e67a1218f 90 if(current_servo_position <= -0.4)
bbbobbbieo 25:806e67a1218f 91 current_servo_position = -0.4;
bbbobbbieo 25:806e67a1218f 92 TFC_SetServo(0, current_servo_position);
bbbobbbieo 25:806e67a1218f 93 }// end check button0
bbbobbbieo 25:806e67a1218f 94
bbbobbbieo 25:806e67a1218f 95 else {}
bbbobbbieo 25:806e67a1218f 96
bbbobbbieo 25:806e67a1218f 97
bbbobbbieo 25:806e67a1218f 98 // manual servo control, unused
bbbobbbieo 25:806e67a1218f 99 if (TFC_ReadPushButton(1) != 0 ) {
bbbobbbieo 25:806e67a1218f 100 current_servo_position = current_servo_position+.005;
bbbobbbieo 25:806e67a1218f 101 if(current_servo_position >= 0.4)
bbbobbbieo 25:806e67a1218f 102 current_servo_position = 0.4;
bbbobbbieo 25:806e67a1218f 103 TFC_SetServo(0, current_servo_position);
bbbobbbieo 25:806e67a1218f 104 }// end check button1
bbbobbbieo 25:806e67a1218f 105
bbbobbbieo 25:806e67a1218f 106 else {}
bbbobbbieo 25:806e67a1218f 107
bbbobbbieo 0:bf39986ebff7 108 // initial motor stuff
bbbobbbieo 0:bf39986ebff7 109 if(rear_motor_enable_flag) {
bbbobbbieo 0:bf39986ebff7 110 TFC_HBRIDGE_ENABLE;
bbbobbbieo 0:bf39986ebff7 111
bbbobbbieo 0:bf39986ebff7 112
bbbobbbieo 25:806e67a1218f 113
bbbobbbieo 0:bf39986ebff7 114 // checking behavior level
bbbobbbieo 0:bf39986ebff7 115 violence_level = int(TFC_GetDIP_Switch());
bbbobbbieo 0:bf39986ebff7 116
bbbobbbieo 0:bf39986ebff7 117 if (violence_level==3) {
bbbobbbieo 0:bf39986ebff7 118 current_left_motor_speed = -(AGGRESSIVE);
bbbobbbieo 0:bf39986ebff7 119 current_right_motor_speed = AGGRESSIVE;
bbbobbbieo 0:bf39986ebff7 120 }
bbbobbbieo 0:bf39986ebff7 121 else if (violence_level==2) {
bbbobbbieo 0:bf39986ebff7 122 current_left_motor_speed = -(MODERATE);
bbbobbbieo 0:bf39986ebff7 123 current_right_motor_speed = (MODERATE);
bbbobbbieo 0:bf39986ebff7 124 }
bbbobbbieo 0:bf39986ebff7 125 else if (violence_level==1) {
bbbobbbieo 0:bf39986ebff7 126 current_left_motor_speed = -(CONSERVATIVE);
bbbobbbieo 0:bf39986ebff7 127 current_right_motor_speed = CONSERVATIVE;
bbbobbbieo 0:bf39986ebff7 128 }
bbbobbbieo 0:bf39986ebff7 129 else if (violence_level==0) {
bbbobbbieo 0:bf39986ebff7 130 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 131 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 132 }
bbbobbbieo 0:bf39986ebff7 133 else {
bbbobbbieo 0:bf39986ebff7 134 current_left_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 135 current_right_motor_speed = STOP;
bbbobbbieo 0:bf39986ebff7 136 }
bbbobbbieo 0:bf39986ebff7 137
bbbobbbieo 25:806e67a1218f 138
bbbobbbieo 0:bf39986ebff7 139 // protection block
bbbobbbieo 0:bf39986ebff7 140 if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 141 current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 142 if(current_right_motor_speed >= PROTECTION_THRESHOLD_UPPER)
bbbobbbieo 0:bf39986ebff7 143 current_right_motor_speed = PROTECTION_THRESHOLD_UPPER;
bbbobbbieo 0:bf39986ebff7 144 if(current_left_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 145 current_left_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 146 if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
bbbobbbieo 0:bf39986ebff7 147 current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
bbbobbbieo 0:bf39986ebff7 148
bbbobbbieo 25:806e67a1218f 149 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 0:bf39986ebff7 150 }// end motor enabled
bbbobbbieo 0:bf39986ebff7 151 else {
bbbobbbieo 0:bf39986ebff7 152 TFC_HBRIDGE_DISABLE;
bbbobbbieo 0:bf39986ebff7 153 }// end motor disabled
bbbobbbieo 0:bf39986ebff7 154
bbbobbbieo 0:bf39986ebff7 155 // camera stuff
bbbobbbieo 0:bf39986ebff7 156 if (linescan_enable) {
bbbobbbieo 0:bf39986ebff7 157 if (TFC_LineScanImageReady !=0) {
bbbobbbieo 0:bf39986ebff7 158
bbbobbbieo 0:bf39986ebff7 159 if (linescan_ping_pong) {
bbbobbbieo 0:bf39986ebff7 160 //checking channel 0
bbbobbbieo 0:bf39986ebff7 161
bbbobbbieo 0:bf39986ebff7 162 //checking center pixel, displays aprox value on leds
bbbobbbieo 0:bf39986ebff7 163 uint8_t shitnum = 1;
bbbobbbieo 0:bf39986ebff7 164
bbbobbbieo 25:806e67a1218f 165
bbbobbbieo 0:bf39986ebff7 166 // checking for center line (single line)
bbbobbbieo 25:806e67a1218f 167 for (uint16_t i=15; i<113; i++) {
bbbobbbieo 25:806e67a1218f 168 if ((*(TFC_LineScanImage0+i) < 450)) {
bbbobbbieo 0:bf39986ebff7 169 black_values_list[black_value_count] = i;
bbbobbbieo 0:bf39986ebff7 170 black_value_count++;
bbbobbbieo 0:bf39986ebff7 171 }
bbbobbbieo 0:bf39986ebff7 172 }
bbbobbbieo 0:bf39986ebff7 173
bbbobbbieo 25:806e67a1218f 174 for(int i=0; i<black_value_count; i++) {
bbbobbbieo 0:bf39986ebff7 175 sum_black += black_values_list[i];
bbbobbbieo 25:806e67a1218f 176 }
bbbobbbieo 0:bf39986ebff7 177
bbbobbbieo 0:bf39986ebff7 178 //update history
bbbobbbieo 0:bf39986ebff7 179 center_past_4= center_past_3;
bbbobbbieo 0:bf39986ebff7 180 center_past_3= center_past_2;
bbbobbbieo 0:bf39986ebff7 181 center_past_2= center_past_1;
bbbobbbieo 0:bf39986ebff7 182 center_past_1= center_now;
bbbobbbieo 0:bf39986ebff7 183
bbbobbbieo 25:806e67a1218f 184
bbbobbbieo 25:806e67a1218f 185 //if (black_value_count>2)
bbbobbbieo 0:bf39986ebff7 186 center_now = sum_black / black_value_count;
bbbobbbieo 0:bf39986ebff7 187
bbbobbbieo 0:bf39986ebff7 188 uint8_t num = 0;
bbbobbbieo 0:bf39986ebff7 189
bbbobbbieo 25:806e67a1218f 190 if(center_now > 15 && center_now < 27)
bbbobbbieo 0:bf39986ebff7 191 num = 1;
bbbobbbieo 25:806e67a1218f 192 else if(center_now >= 27 && center_now < 54)
bbbobbbieo 0:bf39986ebff7 193 num = 2;
bbbobbbieo 25:806e67a1218f 194 else if(center_now > 60 && center_now < 70)
bbbobbbieo 0:bf39986ebff7 195 num = 15;
bbbobbbieo 25:806e67a1218f 196 else if(center_now >= 54 && center_now < 81)
bbbobbbieo 0:bf39986ebff7 197 num = 4;
bbbobbbieo 25:806e67a1218f 198 else if(center_now >= 81 && center_now < 113)
bbbobbbieo 0:bf39986ebff7 199 num = 8;
bbbobbbieo 0:bf39986ebff7 200
bbbobbbieo 0:bf39986ebff7 201 else
bbbobbbieo 0:bf39986ebff7 202 num = 0;
bbbobbbieo 0:bf39986ebff7 203
bbbobbbieo 2:5eb97170c199 204 if (black_value_count<2)
bbbobbbieo 2:5eb97170c199 205 num = 0;
bbbobbbieo 25:806e67a1218f 206
bbbobbbieo 19:545e9ddba0e8 207 if (black_value_count>30)
bbbobbbieo 19:545e9ddba0e8 208 {
bbbobbbieo 19:545e9ddba0e8 209 while(1)
bbbobbbieo 19:545e9ddba0e8 210 TFC_SetMotorPWM(0, 0);
bbbobbbieo 25:806e67a1218f 211 }
bbbobbbieo 25:806e67a1218f 212
bbbobbbieo 19:545e9ddba0e8 213
bbbobbbieo 0:bf39986ebff7 214 TFC_SetBatteryLED(num);
bbbobbbieo 0:bf39986ebff7 215
bbbobbbieo 0:bf39986ebff7 216 // best guess of center based on weighted average of history
bbbobbbieo 25:806e67a1218f 217 //black_center_value = (5*center_now + 10*center_past_1 + 15*center_past_2 +30*center_past_3 +40*center_past_4)/100;
bbbobbbieo 25:806e67a1218f 218 //black_center_value = (15*center_now + 15*center_past_1 + 15*center_past_2 +25*center_past_3 +30*center_past_4)/100;
bbbobbbieo 0:bf39986ebff7 219 black_center_value = center_now;
bbbobbbieo 0:bf39986ebff7 220
bbbobbbieo 0:bf39986ebff7 221
bbbobbbieo 0:bf39986ebff7 222 // turn left
bbbobbbieo 25:806e67a1218f 223 //if (black_center_value > BLACK_THRESHOLD+30) {
bbbobbbieo 25:806e67a1218f 224 if (num==8 and right_counter <.2 )
bbbobbbieo 0:bf39986ebff7 225 {
bbbobbbieo 25:806e67a1218f 226 //left_counter += (128-black_center_value);
bbbobbbieo 25:806e67a1218f 227 //left_counter+=20;
bbbobbbieo 25:806e67a1218f 228 left_counter=-0.4;
bbbobbbieo 14:1a408e13679d 229 turn_left=true;
bbbobbbieo 14:1a408e13679d 230 turn_right=false;
bbbobbbieo 25:806e67a1218f 231
bbbobbbieo 14:1a408e13679d 232 }
bbbobbbieo 25:806e67a1218f 233 if (num==4 and right_counter <.2)
bbbobbbieo 0:bf39986ebff7 234 {
bbbobbbieo 25:806e67a1218f 235 //left_counter += (128-black_center_value);
bbbobbbieo 25:806e67a1218f 236 //left_counter+=20;
bbbobbbieo 25:806e67a1218f 237 left_counter=-0.6;
bbbobbbieo 0:bf39986ebff7 238 turn_left=true;
bbbobbbieo 0:bf39986ebff7 239 turn_right=false;
bbbobbbieo 25:806e67a1218f 240
bbbobbbieo 0:bf39986ebff7 241 }
bbbobbbieo 0:bf39986ebff7 242
bbbobbbieo 25:806e67a1218f 243 // need to turn right
bbbobbbieo 25:806e67a1218f 244 //else if (black_center_value < BLACK_THRESHOLD-30) {
bbbobbbieo 25:806e67a1218f 245 else if (num==1 and left_counter >-.2)
bbbobbbieo 14:1a408e13679d 246 {
bbbobbbieo 25:806e67a1218f 247 //right_counter += black_center_value;
bbbobbbieo 25:806e67a1218f 248
bbbobbbieo 25:806e67a1218f 249 //right_counter +=20;
bbbobbbieo 25:806e67a1218f 250 right_counter =.4;
bbbobbbieo 14:1a408e13679d 251 turn_left=false;
bbbobbbieo 14:1a408e13679d 252 turn_right=true;
bbbobbbieo 25:806e67a1218f 253
bbbobbbieo 14:1a408e13679d 254 }
bbbobbbieo 25:806e67a1218f 255 else if (num==2 and left_counter >-.2)
bbbobbbieo 25:806e67a1218f 256 {
bbbobbbieo 25:806e67a1218f 257 //right_counter += black_center_value;
bbbobbbieo 25:806e67a1218f 258 //right_counter +=20;
bbbobbbieo 25:806e67a1218f 259 right_counter =.6;
bbbobbbieo 0:bf39986ebff7 260 turn_left=false;
bbbobbbieo 0:bf39986ebff7 261 turn_right=true;
bbbobbbieo 25:806e67a1218f 262
bbbobbbieo 0:bf39986ebff7 263 }
bbbobbbieo 25:806e67a1218f 264 //else if (black_value_count < 2)
bbbobbbieo 25:806e67a1218f 265 // {
bbbobbbieo 25:806e67a1218f 266 // turn_right=false;
bbbobbbieo 25:806e67a1218f 267 //// turn_left=false;
bbbobbbieo 25:806e67a1218f 268 // TFC_SetServo(0,0.0);
bbbobbbieo 25:806e67a1218f 269 // }
bbbobbbieo 25:806e67a1218f 270
bbbobbbieo 25:806e67a1218f 271 //else if (num==0)
bbbobbbieo 25:806e67a1218f 272 //{
bbbobbbieo 25:806e67a1218f 273 // TFC_SetServo(0,0.0);
bbbobbbieo 25:806e67a1218f 274 //}
bbbobbbieo 25:806e67a1218f 275
bbbobbbieo 25:806e67a1218f 276
bbbobbbieo 25:806e67a1218f 277 else if (turn_right == false and turn_left == false)
bbbobbbieo 2:5eb97170c199 278 {
bbbobbbieo 2:5eb97170c199 279 TFC_SetServo(0,(0.0+ bullshit_offset));
bbbobbbieo 2:5eb97170c199 280 }
bbbobbbieo 2:5eb97170c199 281
bbbobbbieo 25:806e67a1218f 282 else
bbbobbbieo 25:806e67a1218f 283 {
bbbobbbieo 25:806e67a1218f 284 //turn_right=false;
bbbobbbieo 25:806e67a1218f 285 //turn_left=false;
bbbobbbieo 25:806e67a1218f 286 //TFC_SetServo(0,0.0);
bbbobbbieo 25:806e67a1218f 287 }
bbbobbbieo 0:bf39986ebff7 288
bbbobbbieo 0:bf39986ebff7 289 //dealwiththeshit
bbbobbbieo 25:806e67a1218f 290 if(turn_left)
bbbobbbieo 0:bf39986ebff7 291 {
bbbobbbieo 25:806e67a1218f 292 turn_right = false;
bbbobbbieo 25:806e67a1218f 293 //TFC_SetServo(0, ((left_counter)*(-.05)));
bbbobbbieo 25:806e67a1218f 294 TFC_SetServo(0,left_counter);
bbbobbbieo 25:806e67a1218f 295 left_counter += .01;
bbbobbbieo 2:5eb97170c199 296 if (left_counter > (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 297 turn_left = false;
bbbobbbieo 25:806e67a1218f 298
bbbobbbieo 25:806e67a1218f 299 TFC_SetMotorPWM(current_left_motor_speed+(.2*left_counter), current_right_motor_speed+(.2*left_counter));
bbbobbbieo 25:806e67a1218f 300 //left_counter -= 1;
bbbobbbieo 25:806e67a1218f 301 //if (left_counter < 10)
bbbobbbieo 25:806e67a1218f 302 // turn_left =false;
bbbobbbieo 25:806e67a1218f 303 }
bbbobbbieo 25:806e67a1218f 304
bbbobbbieo 25:806e67a1218f 305 if(turn_right)
bbbobbbieo 0:bf39986ebff7 306 {
bbbobbbieo 0:bf39986ebff7 307 turn_left =false;
bbbobbbieo 25:806e67a1218f 308 //TFC_SetServo(0, ((right_counter)*(.05)));
bbbobbbieo 25:806e67a1218f 309 TFC_SetServo(0,right_counter);
bbbobbbieo 25:806e67a1218f 310 right_counter -= .01;
bbbobbbieo 2:5eb97170c199 311 if (right_counter < (0+ bullshit_offset))
bbbobbbieo 1:e561f697985b 312 turn_right = false;
bbbobbbieo 25:806e67a1218f 313
bbbobbbieo 25:806e67a1218f 314 TFC_SetMotorPWM(current_left_motor_speed-(.2*right_counter), current_right_motor_speed-(.2*right_counter));
bbbobbbieo 25:806e67a1218f 315 //right_counter -= 1;
bbbobbbieo 25:806e67a1218f 316 // if (right_counter < 10)
bbbobbbieo 25:806e67a1218f 317 // turn_right =false;
bbbobbbieo 25:806e67a1218f 318 }
bbbobbbieo 0:bf39986ebff7 319
bbbobbbieo 0:bf39986ebff7 320 // clearing values for next image processing round
bbbobbbieo 0:bf39986ebff7 321 black_value_count = 0;
bbbobbbieo 25:806e67a1218f 322 //black_center_value = 0;
bbbobbbieo 0:bf39986ebff7 323 sum_black = 0;
bbbobbbieo 25:806e67a1218f 324
bbbobbbieo 0:bf39986ebff7 325 // end image processing
bbbobbbieo 0:bf39986ebff7 326
bbbobbbieo 0:bf39986ebff7 327 linescan_ping_pong = false;
bbbobbbieo 0:bf39986ebff7 328 } // end checking channel 0
bbbobbbieo 0:bf39986ebff7 329
bbbobbbieo 0:bf39986ebff7 330 else { //checking channel 1
bbbobbbieo 0:bf39986ebff7 331 linescan_ping_pong = true;
bbbobbbieo 0:bf39986ebff7 332 }
bbbobbbieo 0:bf39986ebff7 333
bbbobbbieo 0:bf39986ebff7 334 TFC_LineScanImageReady = 0; // since we used it, we reset the flag
bbbobbbieo 0:bf39986ebff7 335 }// end imageready
bbbobbbieo 0:bf39986ebff7 336 }// end linescan stuff
bbbobbbieo 25:806e67a1218f 337 }
bbbobbbieo 25:806e67a1218f 338 }
bbbobbbieo 25:806e67a1218f 339
bbbobbbieo 25:806e67a1218f 340 // shit code down here
bbbobbbieo 25:806e67a1218f 341