Diff: pixy.cpp

Revision:

8:a915c5eff55a

Parent:

7:e57b18779bf1

Child:

9:89b9d1a6457c

--- a/pixy.cpp	Fri Jun 06 16:18:49 2014 +0000
+++ b/pixy.cpp	Fri Jun 06 19:47:27 2014 +0000
@@ -37,7 +37,7 @@
     }
 }
 
-void pixySPI::capture(Mutex* mutex)
+void pixySPI::capture()
 {
     memset(blocks, 0, numBlocks*sizeof(Block)); //destroy the old targets
     for (int i=0; i<numBlocks; ++i) {
@@ -48,10 +48,18 @@
         //first we need to detect the start of a block. They all start with 0xAA55
         char frame[2]= {0,0}; //this is a 2 byte running frame of what is being recieved. It's like a first-in-last-out queue
         //debug->printf("looking for valid signature\n");
+        Timer t;
+        t.start();
         while (memcmp((char*)&sync, frame, 2)!=0) {
             frame[0]=frame[1]; //move byte down
             frame[1]=spi.write(0x00); //get next byte.
+            if (t.read_ms()>5)
+            {
+                t.stop();
+                return;
+            }
         }
+        //printf("target\n\n");
         spi.write(0x00);
         //ok so we got a valid signature
         //these didn't end up working
@@ -71,10 +79,10 @@
         //printf("found block\n");
         if (blocks[0].signature!=INVALID_BLOCK)
         {
-            mutex->lock();
+            //mutex->lock();
             bestX=blocks[0].x;
             bestY=blocks[0].y;
-            mutex->unlock();
+            //mutex->unlock();
         }
     }
     return;