File content as of revision 11:d65d6d7fc85e:

//#include "mbed.h"
#include "TFC.h"

DigitalOut myled(LED1);

int main() 
{
    //run this before anything
    TFC_Init();
    
    //variables
    float current_servo_position = 0;
    float current_left_motor_speed = 0;
    float current_right_motor_speed = 0;
    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;
    
    
    //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)
            {
             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) > 450)) 
                                {
                                    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 = current_servo_position-.005;
                                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+.005;
                                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
                        
                        
                        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     
    }
}



// shit code

//this block is the worst image processing algorithm ever
/*
black_values_list[];
black_value_count = 0;
black_center_value = 0;
sum_black = 0;

for (int i=0; i<128; i++)
{
    if (camera_data[i]< 100) 
    {
        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)
    servo_left();

if (black_center_value < 64)
    servo_right();
*/