fatboyslim
/
buttontest
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Diff: main.cpp
- Revision:
- 14:f43b386b8b5d
- Parent:
- 13:6ad980fd3394
- Child:
- 15:830209e846d5
--- a/main.cpp Tue Feb 24 18:54:07 2015 +0000
+++ b/main.cpp Wed Feb 25 15:32:56 2015 +0000
@@ -3,11 +3,11 @@
DigitalOut myled(LED1);
-int main()
+int main()
{
//run this before anything
TFC_Init();
-
+
//variables
float current_servo_position = 0;
float current_left_motor_speed = 0;
@@ -15,180 +15,186 @@
bool rear_motor_enable_flag = true;
bool linescan_ping_pong = false;
bool linescan_enable = true;
-
+
int black_values_list[128];
int black_value_count = 0;
int black_center_value = 0;
int sum_black = 0;
-
-
+ int violence_level = 0;
+
+
//uint16_t MyImage0Buffer[2][128];
//uint16_t MyImage1Buffer[2][128];
-
-
+
+
// major loop
- while(1)
- {
-
- if (TFC_ReadPushButton(0) != 0 )
- {
- /*(TFC_BAT_LED0_ON;
- wait(0.004);
- TFC_BAT_LED0_OFF;
- wait(0.004);*/
-
- current_servo_position = current_servo_position-.005;
- if(current_servo_position <= -0.4)
- current_servo_position = -0.4;
- TFC_SetServo(0, current_servo_position);
- }// end check button0
-
- else
- {
- //TFC_BAT_LED0_ON;
- }
-
- if (TFC_ReadPushButton(1) != 0 )
- {
- /*TFC_BAT_LED1_ON;
- wait(0.004);
- TFC_BAT_LED1_OFF;
- wait(0.004);*/
-
- current_servo_position = current_servo_position+.005;
- if(current_servo_position >= 0.4)
- current_servo_position = 0.4;
- TFC_SetServo(0, current_servo_position);
- }// end check button1
-
- else
- {
- //TFC_BAT_LED1_ON;
- }
-
- if(rear_motor_enable_flag)
- {
- TFC_HBRIDGE_ENABLE;
- //current_left_motor_speed = current_left_motor_speed + .3*(TFC_ReadPot(0));
- //current_right_motor_speed = current_right_motor_speed + .3*(TFC_ReadPot(1));
-
- //current_left_motor_speed = .3*(TFC_ReadPot(0));
- //current_right_motor_speed = .3*(TFC_ReadPot(1));
-
- current_left_motor_speed = (TFC_ReadPot(0));
- current_right_motor_speed = (TFC_ReadPot(1));
-
- if(current_left_motor_speed >= 0.4)
- current_left_motor_speed= 0.4;
- if(current_right_motor_speed >= 0.4)
- current_right_motor_speed= 0.4;
- if(current_left_motor_speed <= -0.4)
- current_left_motor_speed= -0.4;
- if(current_right_motor_speed <= -0.4)
- current_right_motor_speed= -0.4;
-
- TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
- }// end motor enabled
- else
- {
- TFC_HBRIDGE_DISABLE;
- }// end motor disabled
-
- if (linescan_enable)
+ while(1) {
+
+ if (TFC_ReadPushButton(0) != 0 ) {
+ /*(TFC_BAT_LED0_ON;
+ wait(0.004);
+ TFC_BAT_LED0_OFF;
+ wait(0.004);*/
+
+ current_servo_position = current_servo_position-.005;
+ if(current_servo_position <= -0.4)
+ current_servo_position = -0.4;
+ TFC_SetServo(0, current_servo_position);
+ }// end check button0
+
+ else {
+ //TFC_BAT_LED0_ON;
+ }
+
+ if (TFC_ReadPushButton(1) != 0 ) {
+ /*TFC_BAT_LED1_ON;
+ wait(0.004);
+ TFC_BAT_LED1_OFF;
+ wait(0.004);*/
+
+ current_servo_position = current_servo_position+.005;
+ if(current_servo_position >= 0.4)
+ current_servo_position = 0.4;
+ TFC_SetServo(0, current_servo_position);
+ }// end check button1
+
+ else {
+ //TFC_BAT_LED1_ON;
+ }
+
+
+ if(rear_motor_enable_flag) {
+ TFC_HBRIDGE_ENABLE;
+ //current_left_motor_speed = current_left_motor_speed + .3*(TFC_ReadPot(0));
+ //current_right_motor_speed = current_right_motor_speed + .3*(TFC_ReadPot(1));
+
+ //current_left_motor_speed = .3*(TFC_ReadPot(0));
+ //current_right_motor_speed = .3*(TFC_ReadPot(1));
+
+ current_left_motor_speed = (TFC_ReadPot(0));
+ current_right_motor_speed = (TFC_ReadPot(1));
+
+ violence_level = int(TFC_GetDIP_Switch());
+
+ if (violence_level==1)
{
- if (TFC_LineScanImageReady !=0)
- {
-
- if (linescan_ping_pong) //checking channel 0
- {
- //...
- //uint8_t shitnum = uint8_t(*TFC_LineScanImage0>>3);
- uint8_t shitnum = 1;
- if (*(TFC_LineScanImage0+64) > 800)
- shitnum = 15;
- else if((*(TFC_LineScanImage0+64) > 450))
- shitnum = 7;
- else if((*(TFC_LineScanImage0+64) > 400))
- shitnum = 3;
- else
- shitnum = 1;
-
- TFC_SetBatteryLED(shitnum);
-
- // checking for center line?
- for (uint16_t i=0; i<128; i++)
- {
- if ((*(TFC_LineScanImage0+i) < 300))
- {
- black_values_list[black_value_count] = i;
- black_value_count++;
- }
- }
-
- for(int i=0; i<black_value_count; i++)
- {
- sum_black += black_values_list[i];
- }
-
- black_center_value= sum_black / black_value_count;
-
- if (black_center_value < 64)
- {
-
-
- //current_servo_position= float(-0.2);
- /*if(black_center_value < 40)
- current_servo_position = current_servo_position-.0004;
- else
- current_servo_position = current_servo_position-.0001;*/
-
- //current_servo_position= float(.009375*black_center_value-(.6));
- //current_servo_position= float(.00625*black_center_value-(.4));
- current_servo_position= float(.015625*black_center_value-(1));
- if(current_servo_position <= -0.4)
- current_servo_position = -0.4;
- TFC_SetServo(0, current_servo_position);
-
- }
-
- if (black_center_value > 64)
- {
- //current_servo_position = current_servo_position+.0001;
- //current_servo_position= float();
- //current_servo_position= float(0.2);
- /*if(black_center_value > 88)
- current_servo_position = current_servo_position+.0004;
- else
- current_servo_position = current_servo_position+.0001;*/
-
- //current_servo_position= float(.009375*black_center_value-(.6));
- //current_servo_position= float(.00625*black_center_value-(.4));
- current_servo_position= float(.015625*black_center_value-(1));
- if( current_servo_position >= +0.4)
- current_servo_position = +0.4;
- TFC_SetServo(0, current_servo_position);
- }
-
- black_value_count = 0;
- black_center_value = 0;
- sum_black = 0;
-
- // end checking for center line
+ current_left_motor_speed = .2;
+ current_right_motor_speed = .2;
+ }
+
+ if(current_left_motor_speed >= 0.4)
+ current_left_motor_speed= 0.4;
+ if(current_right_motor_speed >= 0.4)
+ current_right_motor_speed= 0.4;
+ if(current_left_motor_speed <= -0.4)
+ current_left_motor_speed= -0.4;
+ if(current_right_motor_speed <= -0.4)
+ current_right_motor_speed= -0.4;
+
+ TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
+ }// end motor enabled
+ else {
+ TFC_HBRIDGE_DISABLE;
+ }// end motor disabled
+
+ if (linescan_enable) {
+ if (TFC_LineScanImageReady !=0) {
+
+ if (linescan_ping_pong) { //checking channel 0
+ //...
+ //uint8_t shitnum = uint8_t(*TFC_LineScanImage0>>3);
+ uint8_t shitnum = 1;
+ if (*(TFC_LineScanImage0+64) > 800)
+ shitnum = 15;
+ else if((*(TFC_LineScanImage0+64) > 450))
+ shitnum = 7;
+ else if((*(TFC_LineScanImage0+64) > 400))
+ shitnum = 3;
+ else
+ shitnum = 1;
+
+ TFC_SetBatteryLED(shitnum);
+
+ // checking for center line?
+ for (uint16_t i=0; i<128; i++) {
+ if ((*(TFC_LineScanImage0+i) < 300)) {
+ black_values_list[black_value_count] = i;
+ black_value_count++;
+ }
+ }
+
+ for(int i=0; i<black_value_count; i++) {
+ sum_black += black_values_list[i];
+ }
+
+ black_center_value= sum_black / black_value_count;
+
+ if (black_center_value < 64) {
+
+
+ //current_servo_position= float(-0.2);
+ /*if(black_center_value < 40)
+ current_servo_position = current_servo_position-.0004;
+ else
+ current_servo_position = current_servo_position-.0001;*/
+
+ //current_servo_position= float(.009375*black_center_value-(.6));
+ //current_servo_position= float(.00625*black_center_value-(.4));
+ current_servo_position= float(.015625*black_center_value-(1));
+ if(current_servo_position <= -0.4)
+ current_servo_position = -0.4;
+ TFC_SetServo(0, current_servo_position);
- linescan_ping_pong = false;
- } // end checking channel 0
- else //checking channel 1
- {
- //...
- //TFC_SetBatteryLED(*TFC_LineScanImage1+4);
- linescan_ping_pong = true;
+ current_left_motor_speed = current_left_motor_speed - float(64-black_center_value)*.0025;
+ current_right_motor_speed = current_right_motor_speed + float(64-black_center_value)*.0025;
+
+ TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
+
}
-
-
+
+ if (black_center_value > 64) {
+ //current_servo_position = current_servo_position+.0001;
+ //current_servo_position= float();
+ //current_servo_position= float(0.2);
+ /*if(black_center_value > 88)
+ current_servo_position = current_servo_position+.0004;
+ else
+ current_servo_position = current_servo_position+.0001;*/
+
+ //current_servo_position= float(.009375*black_center_value-(.6));
+ //current_servo_position= float(.00625*black_center_value-(.4));
+ current_servo_position= float(.015625*black_center_value-(1));
+ if( current_servo_position >= +0.4)
+ current_servo_position = +0.4;
+ TFC_SetServo(0, current_servo_position);
+
+ current_left_motor_speed = current_left_motor_speed + float(black_center_value-64)*.0025;
+ current_right_motor_speed = current_right_motor_speed - float(black_center_value-64)*.0025;
+
+ TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
+
+ }
+
+ black_value_count = 0;
+ black_center_value = 0;
+ sum_black = 0;
+
+ // end checking for center line
+
+
+ linescan_ping_pong = false;
+ } // end checking channel 0
+ else { //checking channel 1
+ //...
+ //TFC_SetBatteryLED(*TFC_LineScanImage1+4);
+ linescan_ping_pong = true;
+ }
+
+
TFC_LineScanImageReady ==0; // since we used it, we reset the flag
- }// end imageready
- }// end linescan stuff
+ }// end imageready
+ }// end linescan stuff
}
}
@@ -205,7 +211,7 @@
for (int i=0; i<128; i++)
{
- if (camera_data[i]< 100)
+ if (camera_data[i]< 100)
{
black_values_list[black_value_count] = i;
black_value_count++;