Pascal Sandrez
Custom version for NXP cup car
Diff: Vision.h
- Revision:
- 0:ccbc44580fab
- Child:
- 1:68bb92736e14
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Vision.h Fri Mar 25 13:05:09 2016 +0000
@@ -0,0 +1,32 @@
+#include "mbed.h"
+
+#ifndef _VISION_H
+#define _VISION_H
+
+struct lineScanData {
+ uint8_t mostWhiteIndex;
+ uint16_t maxLightValue;
+ uint8_t rightEdgeIndex;
+ uint8_t leftEdgeIndex;
+};
+
+class Vision
+{
+ public:
+
+ Vision();
+ void processTasks();
+ void saveData(uint16_t* line);
+ struct lineScanData processLine();
+ bool lightCompensation;
+ struct lineScanData getRoadData();
+
+ private:
+
+ uint16_t lineData[128];
+ bool newDataToProcess;
+ struct lineScanData currentRoadData;
+ void lineScanLightAdjust();
+};
+
+#endif
\ No newline at end of file