Paolina Povolotskaya / Mbed 2 deprecated LRF

TJPS

Dependencies:   mbed

Fork of Laser_Rangefinder by jim hamblen

LRF.c@1:d576753ebd76, 2014-02-24 (annotated)

Committer:
Fairy_Paolina
Date:
Mon Feb 24 22:51:57 2014 +0000
Revision:
1:d576753ebd76
LRF

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Fairy_Paolina 1:d576753ebd76 1 #include "mbed.h"
Fairy_Paolina 1:d576753ebd76 2 #include "LRF.h"
Fairy_Paolina 1:d576753ebd76 3
Fairy_Paolina 1:d576753ebd76 4 LocalFileSystem fs("local");
Fairy_Paolina 1:d576753ebd76 5
Fairy_Paolina 1:d576753ebd76 6 DigitalOut myled(LED1);
Fairy_Paolina 1:d576753ebd76 7 Serial lrf(p9,p10);
Fairy_Paolina 1:d576753ebd76 8 extern Serial pc;
Fairy_Paolina 1:d576753ebd76 9
Fairy_Paolina 1:d576753ebd76 10 void LRFinit(void){
Fairy_Paolina 1:d576753ebd76 11 char lrfchar=0;
Fairy_Paolina 1:d576753ebd76 12
Fairy_Paolina 1:d576753ebd76 13 //Delay for lrf power on startup
Fairy_Paolina 1:d576753ebd76 14 wait(2.5);
Fairy_Paolina 1:d576753ebd76 15 lrf.baud(115200);
Fairy_Paolina 1:d576753ebd76 16
Fairy_Paolina 1:d576753ebd76 17 // lrf autobaud setup
Fairy_Paolina 1:d576753ebd76 18 do {
Fairy_Paolina 1:d576753ebd76 19 lrf.putc('U');
Fairy_Paolina 1:d576753ebd76 20 pc.putc('.');
Fairy_Paolina 1:d576753ebd76 21 wait(.2);
Fairy_Paolina 1:d576753ebd76 22 if (lrf.readable()) lrfchar = lrf.getc();
Fairy_Paolina 1:d576753ebd76 23 } while (lrfchar != ':');
Fairy_Paolina 1:d576753ebd76 24 pc.printf("\n\r");
Fairy_Paolina 1:d576753ebd76 25 // clear out any extra characters - just in case
Fairy_Paolina 1:d576753ebd76 26 while (lrf.readable()) {
Fairy_Paolina 1:d576753ebd76 27 lrfchar = lrf.getc();
Fairy_Paolina 1:d576753ebd76 28 }
Fairy_Paolina 1:d576753ebd76 29 }
Fairy_Paolina 1:d576753ebd76 30 ///////////////////////////////////////////////////////////////////////////////////////////////////
Fairy_Paolina 1:d576753ebd76 31 int Verify(int* slope, int* s, int shape){
Fairy_Paolina 1:d576753ebd76 32 int i=0, num[4], count[4];
Fairy_Paolina 1:d576753ebd76 33
Fairy_Paolina 1:d576753ebd76 34 count[0]=count[1]=0;
Fairy_Paolina 1:d576753ebd76 35
Fairy_Paolina 1:d576753ebd76 36 // check if at least two of the 4 sides are parallel
Fairy_Paolina 1:d576753ebd76 37 slope[0]=num[0];
Fairy_Paolina 1:d576753ebd76 38
Fairy_Paolina 1:d576753ebd76 39 for(i=0; i<s[0]; i++){// find two most occuring slopes
Fairy_Paolina 1:d576753ebd76 40 if(slope[i] == num[0])count[0]++;
Fairy_Paolina 1:d576753ebd76 41 else if(slope[i] == num[1]) count[1]++;
Fairy_Paolina 1:d576753ebd76 42 else if(count[0]<2){
Fairy_Paolina 1:d576753ebd76 43 slope[i]=num[0];
Fairy_Paolina 1:d576753ebd76 44 count[0]=0;
Fairy_Paolina 1:d576753ebd76 45 }
Fairy_Paolina 1:d576753ebd76 46 else if(count[1]<2){
Fairy_Paolina 1:d576753ebd76 47 slope[i]=num[1];
Fairy_Paolina 1:d576753ebd76 48 count[1]=0;
Fairy_Paolina 1:d576753ebd76 49 }
Fairy_Paolina 1:d576753ebd76 50 }
Fairy_Paolina 1:d576753ebd76 51
Fairy_Paolina 1:d576753ebd76 52 slope[1]=num[2];
Fairy_Paolina 1:d576753ebd76 53 for(i=s[1]; i<s[2]; i++){// find two most occuring slopes
Fairy_Paolina 1:d576753ebd76 54 if(slope[i] == num[2])count[2]++;
Fairy_Paolina 1:d576753ebd76 55 else if(slope[i] == num[3]) count[3]++;
Fairy_Paolina 1:d576753ebd76 56 else if(count[2]<2){
Fairy_Paolina 1:d576753ebd76 57 slope[i]=num[2];
Fairy_Paolina 1:d576753ebd76 58 count[2]=0;
Fairy_Paolina 1:d576753ebd76 59 }
Fairy_Paolina 1:d576753ebd76 60 else if(count[3]<2){
Fairy_Paolina 1:d576753ebd76 61 slope[i]=num[3];
Fairy_Paolina 1:d576753ebd76 62 count[3]=0;
Fairy_Paolina 1:d576753ebd76 63 }
Fairy_Paolina 1:d576753ebd76 64 }
Fairy_Paolina 1:d576753ebd76 65
Fairy_Paolina 1:d576753ebd76 66 if((slope[1]==slope[3] || slope[1]==slope[2])&&(slope[0]==slope[2] || slope[0]==slope[3])&&(shape==4))return 1;
Fairy_Paolina 1:d576753ebd76 67
Fairy_Paolina 1:d576753ebd76 68 slope[2]=num[0];
Fairy_Paolina 1:d576753ebd76 69 for(i=s[0]; i<s[1]; i++){// find two most occuring slopes
Fairy_Paolina 1:d576753ebd76 70 if(slope[i] == num[0])count[0]++;
Fairy_Paolina 1:d576753ebd76 71 else if(slope[i] == num[1]) count[1]++;
Fairy_Paolina 1:d576753ebd76 72 else if(count[0]<2){
Fairy_Paolina 1:d576753ebd76 73 slope[i]=num[0];
Fairy_Paolina 1:d576753ebd76 74 count[0]=0;
Fairy_Paolina 1:d576753ebd76 75 }
Fairy_Paolina 1:d576753ebd76 76 else if(count[1]<2){
Fairy_Paolina 1:d576753ebd76 77 slope[i]=num[1];
Fairy_Paolina 1:d576753ebd76 78 count[1]=0;
Fairy_Paolina 1:d576753ebd76 79 }
Fairy_Paolina 1:d576753ebd76 80 }
Fairy_Paolina 1:d576753ebd76 81
Fairy_Paolina 1:d576753ebd76 82 slope[3]=num[2];
Fairy_Paolina 1:d576753ebd76 83 for(i=s[2]; i<s[3]; i++){// find two most occuring slopes
Fairy_Paolina 1:d576753ebd76 84 if(slope[i] == num[2])count[2]++;
Fairy_Paolina 1:d576753ebd76 85 else if(slope[i] == num[3]) count[3]++;
Fairy_Paolina 1:d576753ebd76 86 else if(count[2]<2){
Fairy_Paolina 1:d576753ebd76 87 slope[i]=num[2];
Fairy_Paolina 1:d576753ebd76 88 count[2]=0;
Fairy_Paolina 1:d576753ebd76 89 }
Fairy_Paolina 1:d576753ebd76 90 else if(count[3]<2){
Fairy_Paolina 1:d576753ebd76 91 slope[i]=num[3];
Fairy_Paolina 1:d576753ebd76 92 count[3]=0;
Fairy_Paolina 1:d576753ebd76 93 }
Fairy_Paolina 1:d576753ebd76 94 }
Fairy_Paolina 1:d576753ebd76 95
Fairy_Paolina 1:d576753ebd76 96 if((slope[1]==slope[3] || slope[1]==slope[2])&&(slope[0]==slope[2] || slope[0]==slope[3])&&(shape==4))return 1;
Fairy_Paolina 1:d576753ebd76 97
Fairy_Paolina 1:d576753ebd76 98
Fairy_Paolina 1:d576753ebd76 99 //else if(shape == 3);
Fairy_Paolina 1:d576753ebd76 100 //else
Fairy_Paolina 1:d576753ebd76 101
Fairy_Paolina 1:d576753ebd76 102
Fairy_Paolina 1:d576753ebd76 103 return 0;
Fairy_Paolina 1:d576753ebd76 104 }
Fairy_Paolina 1:d576753ebd76 105 ///////////////////////////////////////////////////////////////////////////////////////////////////
Fairy_Paolina 1:d576753ebd76 106 int Shape(unsigned char** array){
Fairy_Paolina 1:d576753ebd76 107 int i, j, k=0, lastk, prev, sides=1, s[4];
Fairy_Paolina 1:d576753ebd76 108 unsigned char location[128*4][2]; //filled with x,y corrdinates
Fairy_Paolina 1:d576753ebd76 109 int slope[128];
Fairy_Paolina 1:d576753ebd76 110 FILE* fp;
Fairy_Paolina 1:d576753ebd76 111
Fairy_Paolina 1:d576753ebd76 112 fp = fopen("/local/file.xls", "wb");
Fairy_Paolina 1:d576753ebd76 113 if (fp == NULL) {
Fairy_Paolina 1:d576753ebd76 114 return -2;
Fairy_Paolina 1:d576753ebd76 115 }
Fairy_Paolina 1:d576753ebd76 116 // scan starts in bottom left hand corner of the fram x,y (0,0)
Fairy_Paolina 1:d576753ebd76 117 // scanning around the shape in a clockwise direction
Fairy_Paolina 1:d576753ebd76 118
Fairy_Paolina 1:d576753ebd76 119 // check for where edges start and save locations (scan left to right)
Fairy_Paolina 1:d576753ebd76 120 k=0;
Fairy_Paolina 1:d576753ebd76 121 for(i=0; i<128; i++){
Fairy_Paolina 1:d576753ebd76 122 for(j=0; j<160; j++){
Fairy_Paolina 1:d576753ebd76 123 if(array[i][j] == 1){ // if BLACK
Fairy_Paolina 1:d576753ebd76 124 location[k][1]= i; // y
Fairy_Paolina 1:d576753ebd76 125 location[k][0]= j; // x
Fairy_Paolina 1:d576753ebd76 126 k++;
Fairy_Paolina 1:d576753ebd76 127 j=160;
Fairy_Paolina 1:d576753ebd76 128
Fairy_Paolina 1:d576753ebd76 129 }}}
Fairy_Paolina 1:d576753ebd76 130 prev= location[k-1][0]; // save last j value
Fairy_Paolina 1:d576753ebd76 131
Fairy_Paolina 1:d576753ebd76 132 // scan from top to bottom
Fairy_Paolina 1:d576753ebd76 133 for(j=prev; j>160; j++){
Fairy_Paolina 1:d576753ebd76 134 for(i=128; i>0; i--){
Fairy_Paolina 1:d576753ebd76 135 if(array[i][j] == 1){ // if BLACK
Fairy_Paolina 1:d576753ebd76 136 location[k][1]= i; // y
Fairy_Paolina 1:d576753ebd76 137 location[k][0]= j; // x
Fairy_Paolina 1:d576753ebd76 138 k++;
Fairy_Paolina 1:d576753ebd76 139 i=0;
Fairy_Paolina 1:d576753ebd76 140 }}}
Fairy_Paolina 1:d576753ebd76 141
Fairy_Paolina 1:d576753ebd76 142 prev= location[k-1][1]; // save last i value
Fairy_Paolina 1:d576753ebd76 143
Fairy_Paolina 1:d576753ebd76 144 // scan from right to left
Fairy_Paolina 1:d576753ebd76 145 for(i=prev; i>0; i--){
Fairy_Paolina 1:d576753ebd76 146 for(j=159; j>0; j--){
Fairy_Paolina 1:d576753ebd76 147 if(array[i][j] == 1){ // if BLACK
Fairy_Paolina 1:d576753ebd76 148 location[k][1]= i; // y
Fairy_Paolina 1:d576753ebd76 149 location[k][0]= j; // x
Fairy_Paolina 1:d576753ebd76 150 k++;
Fairy_Paolina 1:d576753ebd76 151 j=0;
Fairy_Paolina 1:d576753ebd76 152 }}}
Fairy_Paolina 1:d576753ebd76 153
Fairy_Paolina 1:d576753ebd76 154 prev= location[k-1][0]; // save last j value
Fairy_Paolina 1:d576753ebd76 155
Fairy_Paolina 1:d576753ebd76 156 // scan from bottom up
Fairy_Paolina 1:d576753ebd76 157 for(j=prev; j>0; j--){
Fairy_Paolina 1:d576753ebd76 158 for(i=0; i<127; i++){
Fairy_Paolina 1:d576753ebd76 159 if(array[i][j] == 1){ // if BLACK
Fairy_Paolina 1:d576753ebd76 160 if((location[k][1] != location[0][1])&&(location[k][1] != location[1][1])&&(location[k][1] != location[2][1])&&(location[k][1] != location[3][1])){
Fairy_Paolina 1:d576753ebd76 161 if((location[k][0] != location[0][0])&&(location[k][0] != location[1][0])&&(location[k][0] != location[2][0])&&(location[k][0] != location[3][0])){
Fairy_Paolina 1:d576753ebd76 162 location[k][1]= i; // y
Fairy_Paolina 1:d576753ebd76 163 location[k][0]= j; // x
Fairy_Paolina 1:d576753ebd76 164 k++;
Fairy_Paolina 1:d576753ebd76 165 i=127;
Fairy_Paolina 1:d576753ebd76 166 }}
Fairy_Paolina 1:d576753ebd76 167 }}}
Fairy_Paolina 1:d576753ebd76 168
Fairy_Paolina 1:d576753ebd76 169
Fairy_Paolina 1:d576753ebd76 170
Fairy_Paolina 1:d576753ebd76 171 // save the last k
Fairy_Paolina 1:d576753ebd76 172 lastk = k-1;
Fairy_Paolina 1:d576753ebd76 173 for(i=0; i< lastk; i++)fprintf(fp, "%d\t%d\n", location[i][0], location[i][1]);
Fairy_Paolina 1:d576753ebd76 174 i=0;
Fairy_Paolina 1:d576753ebd76 175 k=0;
Fairy_Paolina 1:d576753ebd76 176 // find slopes of 8 segments
Fairy_Paolina 1:d576753ebd76 177 while(i< lastk){
Fairy_Paolina 1:d576753ebd76 178
Fairy_Paolina 1:d576753ebd76 179 /*if((location[i+1][0] - location[i][0]) == 0) slope[k] =100;// arbitrarily choose a number to differentiante num/0 with 0
Fairy_Paolina 1:d576753ebd76 180 else slope[k]=(location[i+1][1] - location[i][1])/(location[i+1][0] - location[i][0]);
Fairy_Paolina 1:d576753ebd76 181 k++;
Fairy_Paolina 1:d576753ebd76 182 i++; */
Fairy_Paolina 1:d576753ebd76 183 if((location[i+4][0] - location[i][0]) == 0) slope[k] =100;// arbitrarily choose a number to differentiante num/0 with 0
Fairy_Paolina 1:d576753ebd76 184 else slope[k]=(location[i+4][1] - location[i][1])/(location[i+4][0] - location[i][0]);
Fairy_Paolina 1:d576753ebd76 185 k++;
Fairy_Paolina 1:d576753ebd76 186 i+=4;
Fairy_Paolina 1:d576753ebd76 187 }
Fairy_Paolina 1:d576753ebd76 188 lastk=k-1;
Fairy_Paolina 1:d576753ebd76 189
Fairy_Paolina 1:d576753ebd76 190
Fairy_Paolina 1:d576753ebd76 191
Fairy_Paolina 1:d576753ebd76 192 i=j=0;
Fairy_Paolina 1:d576753ebd76 193 while(i<lastk){// check for slope changes
Fairy_Paolina 1:d576753ebd76 194 prev=slope[i];
Fairy_Paolina 1:d576753ebd76 195 printf("%d\n\r",slope[i]);
Fairy_Paolina 1:d576753ebd76 196 while(prev == slope[i]){
Fairy_Paolina 1:d576753ebd76 197 i++;
Fairy_Paolina 1:d576753ebd76 198 printf("%d \r\n",slope[i]);
Fairy_Paolina 1:d576753ebd76 199 if((prev-slope[i])<=3 && (prev-slope[i])>=-3){
Fairy_Paolina 1:d576753ebd76 200 if((prev>0) != (slope[i]<0)){
Fairy_Paolina 1:d576753ebd76 201 if((prev != 0) && (slope[i] != 0))prev=slope[i];
Fairy_Paolina 1:d576753ebd76 202 }}}
Fairy_Paolina 1:d576753ebd76 203
Fairy_Paolina 1:d576753ebd76 204 if((prev == slope[i+1]) || (slope[i+1] == slope[i-1]))i++;
Fairy_Paolina 1:d576753ebd76 205 else if((slope[i+1] == slope[i+2])&& i<lastk){
Fairy_Paolina 1:d576753ebd76 206 s[sides]=i;
Fairy_Paolina 1:d576753ebd76 207 sides++; // if just one number then, skip over
Fairy_Paolina 1:d576753ebd76 208 printf("SIDES %d\n\r",sides);
Fairy_Paolina 1:d576753ebd76 209 }
Fairy_Paolina 1:d576753ebd76 210 i++;
Fairy_Paolina 1:d576753ebd76 211 }
Fairy_Paolina 1:d576753ebd76 212 // compare last two slopes with beginning two slopes
Fairy_Paolina 1:d576753ebd76 213 if((slope[0]==slope[lastk]) || (slope[0]==slope[lastk-1]) || (slope[1]==slope[lastk]) || (slope[1]==slope[lastk-1]))sides--;
Fairy_Paolina 1:d576753ebd76 214 fclose(fp);
Fairy_Paolina 1:d576753ebd76 215
Fairy_Paolina 1:d576753ebd76 216 // verify shapes
Fairy_Paolina 1:d576753ebd76 217
Fairy_Paolina 1:d576753ebd76 218 if(!Verify(slope,s,sides))return 4;
Fairy_Paolina 1:d576753ebd76 219
Fairy_Paolina 1:d576753ebd76 220
Fairy_Paolina 1:d576753ebd76 221 if(sides < 4) return 3; // Triange
Fairy_Paolina 1:d576753ebd76 222 else if(sides ==4) return 2; // square
Fairy_Paolina 1:d576753ebd76 223 else return 1; // circle
Fairy_Paolina 1:d576753ebd76 224
Fairy_Paolina 1:d576753ebd76 225 }
Fairy_Paolina 1:d576753ebd76 226 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Fairy_Paolina 1:d576753ebd76 227 int CheckShapeInFrame(unsigned char ** Image){
Fairy_Paolina 1:d576753ebd76 228 int i ,j;
Fairy_Paolina 1:d576753ebd76 229
Fairy_Paolina 1:d576753ebd76 230 // check that outer edges are white (0)
Fairy_Paolina 1:d576753ebd76 231
Fairy_Paolina 1:d576753ebd76 232 //left edge
Fairy_Paolina 1:d576753ebd76 233 for(j=0; j<160; j++) if(Image[0][j] != 0) return 2; // move right
Fairy_Paolina 1:d576753ebd76 234 //right edge
Fairy_Paolina 1:d576753ebd76 235 for(j=0; j<160; j++) if(Image[127][j] != 0) return 1; // move left
Fairy_Paolina 1:d576753ebd76 236 //top edge
Fairy_Paolina 1:d576753ebd76 237 for(i=0; i<128; i++) if(Image[i][0] != 0) return 4; // move down
Fairy_Paolina 1:d576753ebd76 238 //bottom edge
Fairy_Paolina 1:d576753ebd76 239 for(i=0; i<128; i++) if(Image[i][159] != 0) return 3; // move up
Fairy_Paolina 1:d576753ebd76 240
Fairy_Paolina 1:d576753ebd76 241 return 0;
Fairy_Paolina 1:d576753ebd76 242
Fairy_Paolina 1:d576753ebd76 243 }
Fairy_Paolina 1:d576753ebd76 244 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Fairy_Paolina 1:d576753ebd76 245 int GetShape(void){
Fairy_Paolina 1:d576753ebd76 246 char lrfchar=0, end[3];
Fairy_Paolina 1:d576753ebd76 247 int i, j, repeat=0, move=0;
Fairy_Paolina 1:d576753ebd76 248 unsigned char c;
Fairy_Paolina 1:d576753ebd76 249 unsigned char** Image;
Fairy_Paolina 1:d576753ebd76 250
Fairy_Paolina 1:d576753ebd76 251 Image=(unsigned char**)malloc(128*sizeof(unsigned char*));
Fairy_Paolina 1:d576753ebd76 252 for(j=0; j<128; j++){
Fairy_Paolina 1:d576753ebd76 253 Image[j]=(unsigned char*)malloc(160*sizeof(unsigned char));
Fairy_Paolina 1:d576753ebd76 254 }
Fairy_Paolina 1:d576753ebd76 255
Fairy_Paolina 1:d576753ebd76 256 //lrf.putc('E'); //Adjust lighting conditions
Fairy_Paolina 1:d576753ebd76 257 //wait(.2);
Fairy_Paolina 1:d576753ebd76 258
Fairy_Paolina 1:d576753ebd76 259 do{
Fairy_Paolina 1:d576753ebd76 260
Fairy_Paolina 1:d576753ebd76 261 // get grayscale image
Fairy_Paolina 1:d576753ebd76 262 lrf.putc('G'); //Take Binary range reading
Fairy_Paolina 1:d576753ebd76 263 // read in each byte at a time filling in the Image
Fairy_Paolina 1:d576753ebd76 264 // 0= white
Fairy_Paolina 1:d576753ebd76 265 // 1= black
Fairy_Paolina 1:d576753ebd76 266 for(i=0; i<128; i++){
Fairy_Paolina 1:d576753ebd76 267 for(j=0; j<160; j++){
Fairy_Paolina 1:d576753ebd76 268 c=lrf.getc();
Fairy_Paolina 1:d576753ebd76 269 if(c>80)Image[i][j]= 0; // VERIFY THIS ! WAS 70
Fairy_Paolina 1:d576753ebd76 270 else Image[i][j] =1;
Fairy_Paolina 1:d576753ebd76 271 }}
Fairy_Paolina 1:d576753ebd76 272
Fairy_Paolina 1:d576753ebd76 273 // for error checking purposes
Fairy_Paolina 1:d576753ebd76 274 end[0]=lrf.getc();
Fairy_Paolina 1:d576753ebd76 275 end[1]=lrf.getc();
Fairy_Paolina 1:d576753ebd76 276 end[2]=lrf.getc();
Fairy_Paolina 1:d576753ebd76 277
Fairy_Paolina 1:d576753ebd76 278 move= CheckShapeInFrame(Image);
Fairy_Paolina 1:d576753ebd76 279
Fairy_Paolina 1:d576753ebd76 280 if(move == 1) pc.printf("Move Left\r\n");
Fairy_Paolina 1:d576753ebd76 281 else if(move == 2) pc.printf("Move right\r\n");
Fairy_Paolina 1:d576753ebd76 282 else if(move == 3) pc.printf("Move up\r\n");
Fairy_Paolina 1:d576753ebd76 283 else if(move == 4) pc.printf("Move down\r\n");
Fairy_Paolina 1:d576753ebd76 284 else repeat = 1;
Fairy_Paolina 1:d576753ebd76 285
Fairy_Paolina 1:d576753ebd76 286 if(!strcmp(end, "END"))pc.printf("Done!\r\n");
Fairy_Paolina 1:d576753ebd76 287 else repeat = 0;
Fairy_Paolina 1:d576753ebd76 288
Fairy_Paolina 1:d576753ebd76 289
Fairy_Paolina 1:d576753ebd76 290 //eat CR & ":" command prompt
Fairy_Paolina 1:d576753ebd76 291 do {
Fairy_Paolina 1:d576753ebd76 292 if(lrf.readable())lrfchar=lrf.getc();
Fairy_Paolina 1:d576753ebd76 293 }while(lrfchar != ':');
Fairy_Paolina 1:d576753ebd76 294
Fairy_Paolina 1:d576753ebd76 295 //i=Shape(Image);
Fairy_Paolina 1:d576753ebd76 296
Fairy_Paolina 1:d576753ebd76 297 //if(i==4)repeat =0;
Fairy_Paolina 1:d576753ebd76 298
Fairy_Paolina 1:d576753ebd76 299 }while(!repeat);
Fairy_Paolina 1:d576753ebd76 300
Fairy_Paolina 1:d576753ebd76 301
Fairy_Paolina 1:d576753ebd76 302 i=Shape(Image);
Fairy_Paolina 1:d576753ebd76 303
Fairy_Paolina 1:d576753ebd76 304 for(j=0; j<128; j++){
Fairy_Paolina 1:d576753ebd76 305 free(Image[j]);
Fairy_Paolina 1:d576753ebd76 306 }
Fairy_Paolina 1:d576753ebd76 307 free(Image);
Fairy_Paolina 1:d576753ebd76 308
Fairy_Paolina 1:d576753ebd76 309 return i;
Fairy_Paolina 1:d576753ebd76 310
Fairy_Paolina 1:d576753ebd76 311 }