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

RemovedSources/Camera.h.txt@100:ffbeefc9e218, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 21:04:10 2017 +0000
Revision:
100:ffbeefc9e218
Parent:
36:7e747e19f660 
Better version of Intersection detection.

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 13:7dcb1642ef99 5 #include "OV7725RegBuf.h"
hazheng 13:7dcb1642ef99 6
hazheng 26:5814404856e2 7 #define CAMERA_PIXEL_WIDTH 160
hazheng 26:5814404856e2 8 #define CAMERA_PIXEL_HEIGHT 120
hazheng 27:c68f711e5b67 9 #define PICTURE_ARRAY_SIZE ((CAMERA_PIXEL_WIDTH / 8) * CAMERA_PIXEL_HEIGHT)
hazheng 3:c8867972ffc7 10
hazheng 13:7dcb1642ef99 11 namespace SW
hazheng 13:7dcb1642ef99 12 {
hazheng 13:7dcb1642ef99 13 class Core;
hazheng 13:7dcb1642ef99 14 }
hazheng 13:7dcb1642ef99 15
hazheng 3:c8867972ffc7 16 class Camera
hazheng 3:c8867972ffc7 17 {
hazheng 3:c8867972ffc7 18 public:
hazheng 3:c8867972ffc7 19
hazheng 13:7dcb1642ef99 20 Camera(SW::Core & core);
hazheng 3:c8867972ffc7 21
hazheng 3:c8867972ffc7 22 ~Camera();
hazheng 3:c8867972ffc7 23
hazheng 26:5814404856e2 24 void Update(float deltaTime);
hazheng 26:5814404856e2 25
hazheng 3:c8867972ffc7 26 bool HasPicture() const;
hazheng 3:c8867972ffc7 27
hazheng 3:c8867972ffc7 28 const unsigned char * GetPicture() const;
hazheng 3:c8867972ffc7 29
hazheng 26:5814404856e2 30 void StartReceivingPic();
hazheng 26:5814404856e2 31
hazheng 26:5814404856e2 32 void StopReceivingPic();
hazheng 26:5814404856e2 33
hazheng 3:c8867972ffc7 34 private:
hazheng 3:c8867972ffc7 35
hazheng 13:7dcb1642ef99 36 Camera();
hazheng 13:7dcb1642ef99 37
hazheng 13:7dcb1642ef99 38 SW::Core & m_core;
hazheng 13:7dcb1642ef99 39
hazheng 3:c8867972ffc7 40 InterruptIn m_pClock;
hazheng 3:c8867972ffc7 41
hazheng 3:c8867972ffc7 42 InterruptIn m_href;
hazheng 3:c8867972ffc7 43
hazheng 3:c8867972ffc7 44 InterruptIn m_vsnyc;
hazheng 3:c8867972ffc7 45
hazheng 25:6f63053cee81 46 OV7725RegBuf * m_regBuf;
hazheng 26:5814404856e2 47
hazheng 26:5814404856e2 48 float m_debugOutputTimer;
hazheng 3:c8867972ffc7 49 };