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

Diff: main.cpp

Revision:
64:43ab429a37e0
Parent:
63:d9a81b3d69f5
Child:
65:295c222fdf88
--- a/main.cpp	Sun Apr 09 22:08:34 2017 +0000
+++ b/main.cpp	Mon Apr 10 16:44:31 2017 +0000
@@ -52,10 +52,10 @@
     ardu_cam_init();
     
     
-    uint8_t IMUInitResult = imu_manager_init();
-    LOGI("IMU Init: %#x", IMUInitResult);
-    imu_manager_calibrate();
-    imu_manager_begin_tick();
+    //uint8_t IMUInitResult = imu_manager_init();
+    //LOGI("IMU Init: %#x", IMUInitResult);
+    //imu_manager_calibrate();
+    //imu_manager_begin_tick();
     //wait(0.5);
     
     //timer.reset();
@@ -84,6 +84,16 @@
         
         //ardu_cam_display_img_utft();
         image_processing();
+        uint8_t shouldTerminate = ardu_cam_get_is_encounter_terminate();
+        
+        if(shouldTerminate)
+        {
+            ardu_utft_print("Finished!!!", 230, 100);
+            motor_set_right_speed(0.0f);
+            motor_set_left_speed(0.0f);
+            return 0;
+        }
+        
         const volatile uint8_t * centerLine = ardu_cam_get_center_array();
         
         /////////////Calculate the curvature:
@@ -148,18 +158,19 @@
         
         //imu_manager_init();
         //imu_manager_update();
+        //float imuTemp = imu_manager_get_temp();
         
         //const volatile struct imu_vec3* AccelV = imu_manager_get_accl();
         
-        //LOGI("A: %5.3f, %5.3f, %5.3f ", AccelV->x, AccelV->y, AccelV->z);
+        //LOGI("A: %5.3f, %5.3f, %5.3f.T%5.2f ", AccelV->x, AccelV->y, AccelV->z, imuTemp);
         
         //const volatile struct imu_vec3* VelocityV = imu_manager_get_velocity();
         
-        //LOGI("V: %5.3f, %5.3f, %5.3f ", VelocityV->x, VelocityV->y, VelocityV->z);
+        //LOGI("V: %5.3f, %5.3f, %5.3f.T%5.2f ", VelocityV->x, VelocityV->y, VelocityV->z, imuTemp);
         
-        const volatile struct imu_vec3* PositionV = imu_manager_get_position();
+        //const volatile struct imu_vec3* PositionV = imu_manager_get_position();
         
-        LOGI("P: %5.3f, %5.3f, %5.3f ", PositionV->x, PositionV->y, PositionV->z);
+        //LOGI("P: %5.3f, %5.3f, %5.3f ", PositionV->x, PositionV->y, PositionV->z);
         
         counter.Update();