Jordan Brack
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: Camera.h
- Revision:
- 3:c8867972ffc7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Camera.h Wed Feb 01 00:35:48 2017 +0000
@@ -0,0 +1,45 @@
+#pragma once
+#include "mbed.h"
+#include <vector>
+
+#define CAM_MAX_ROW 480
+#define CAM_MAX_COL 640
+
+class Camera
+{
+public:
+
+ Camera();
+
+ ~Camera();
+
+ bool HasPicture() const;
+
+ const unsigned char * GetPicture() const;
+
+private:
+
+ void OnPixelClock();
+
+ void OnFrameClock();
+
+ void OnHorizontalClock();
+
+ InterruptIn m_pClock;
+
+ InterruptIn m_href;
+
+ InterruptIn m_vsnyc;
+
+ std::vector<DigitalIn> m_dIn;
+
+ unsigned char m_pics[2][(CAM_MAX_ROW + 1) * (CAM_MAX_COL + 1)];
+
+ unsigned char m_currentIndex;
+
+ unsigned int m_currentRow;
+
+ unsigned int m_currentCol;
+
+ bool m_hasPic;
+};