fatboyslim
/
buttontest
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Revision 43:9f541718be01, committed 2015-03-10
- Comitter:
- mperella
- Date:
- Tue Mar 10 16:57:23 2015 +0000
- Parent:
- 42:c189b914931d
- Commit message:
- think the linescan stuff might be right
Changed in this revision
| newAlgorithm.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/newAlgorithm.cpp Tue Mar 10 15:51:02 2015 +0000
+++ b/newAlgorithm.cpp Tue Mar 10 16:57:23 2015 +0000
@@ -113,14 +113,17 @@
if (TFC_LineScanImageReady !=0)
{
// first image
- position = getSensorValues(image); // get position
+ if(CurrentLineScanChannel)
+ {
+ position = getSensorValues(true); // get position
+ }
+ // second image
+ else
+ {
+ position = getSensorValues(false);
+ }
error = pid_calc(position); // send position to PID algorithm to get error
calcMotors(error); // send error to calculate both motors
-
- // second image
- position = getSensorValues(image);
- error = pid_calc(position);
- calcMotors(error);
}
}
else
@@ -135,26 +138,23 @@
{
for (uint16_t i=0; i<128; i++)
{
- if ((*(TFC_LineScanImage1+i) < 250))
+ if ((*(TFC_LineScanImage0+i) < 250))
{
black_values_list[black_value_count] = i;
black_value_count++;
}
}
-
- image = false;
}
else
{
for (uint16_t i=0; i<128; i++)
{
- if ((*(TFC_LineScanImage0+i) < 250))
+ if ((*(TFC_LineScanImage1+i) < 250))
{
black_values_list[black_value_count] = i;
black_value_count++;
}
}
- image = true;
}
for(int i=0; i<black_value_count; i++)