Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Camera.h@3:c8867972ffc7, 2017-02-01 (annotated)

Committer:
hazheng
Date:
Wed Feb 01 00:35:48 2017 +0000
Revision:
3:c8867972ffc7
Added code for camera.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 3:c8867972ffc7 1 #pragma once
hazheng 3:c8867972ffc7 2 #include "mbed.h"
hazheng 3:c8867972ffc7 3 #include <vector>
hazheng 3:c8867972ffc7 4
hazheng 3:c8867972ffc7 5 #define CAM_MAX_ROW 480
hazheng 3:c8867972ffc7 6 #define CAM_MAX_COL 640
hazheng 3:c8867972ffc7 7
hazheng 3:c8867972ffc7 8 class Camera
hazheng 3:c8867972ffc7 9 {
hazheng 3:c8867972ffc7 10 public:
hazheng 3:c8867972ffc7 11
hazheng 3:c8867972ffc7 12 Camera();
hazheng 3:c8867972ffc7 13
hazheng 3:c8867972ffc7 14 ~Camera();
hazheng 3:c8867972ffc7 15
hazheng 3:c8867972ffc7 16 bool HasPicture() const;
hazheng 3:c8867972ffc7 17
hazheng 3:c8867972ffc7 18 const unsigned char * GetPicture() const;
hazheng 3:c8867972ffc7 19
hazheng 3:c8867972ffc7 20 private:
hazheng 3:c8867972ffc7 21
hazheng 3:c8867972ffc7 22 void OnPixelClock();
hazheng 3:c8867972ffc7 23
hazheng 3:c8867972ffc7 24 void OnFrameClock();
hazheng 3:c8867972ffc7 25
hazheng 3:c8867972ffc7 26 void OnHorizontalClock();
hazheng 3:c8867972ffc7 27
hazheng 3:c8867972ffc7 28 InterruptIn m_pClock;
hazheng 3:c8867972ffc7 29
hazheng 3:c8867972ffc7 30 InterruptIn m_href;
hazheng 3:c8867972ffc7 31
hazheng 3:c8867972ffc7 32 InterruptIn m_vsnyc;
hazheng 3:c8867972ffc7 33
hazheng 3:c8867972ffc7 34 std::vector<DigitalIn> m_dIn;
hazheng 3:c8867972ffc7 35
hazheng 3:c8867972ffc7 36 unsigned char m_pics[2][(CAM_MAX_ROW + 1) * (CAM_MAX_COL + 1)];
hazheng 3:c8867972ffc7 37
hazheng 3:c8867972ffc7 38 unsigned char m_currentIndex;
hazheng 3:c8867972ffc7 39
hazheng 3:c8867972ffc7 40 unsigned int m_currentRow;
hazheng 3:c8867972ffc7 41
hazheng 3:c8867972ffc7 42 unsigned int m_currentCol;
hazheng 3:c8867972ffc7 43
hazheng 3:c8867972ffc7 44 bool m_hasPic;
hazheng 3:c8867972ffc7 45 };