File content as of revision 1:1dd8d5ffdd02:

#include "mbed.h"
#include "TFC.h"

 
//This macro is to maintain compatibility with Codewarrior version of the sample.   This version uses the MBED libraries for serial port access
Serial PC(USBTX,USBRX);
#define ref_val 5
#define TERMINAL_PRINTF     PC.printf

 
 //This ticker code is used to maintain compability with the Codewarrior version of the sample.   This code uses an MBED Ticker for background timing.
 
#define NUM_TFC_TICKERS 4

Ticker TFC_TickerObj;
 
volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
 float servo_angle=0.0;
 float vision[129];
 unsigned int n_izq=0;
 unsigned int n_der=0;
 int error=0;
void TFC_TickerUpdate()
{
    int i;
 
    for(i=0; i<NUM_TFC_TICKERS; i++)
     {
        if(TFC_Ticker[i]<0xFFFFFFFF) 
        {
            TFC_Ticker[i]++;
        }
    }
}
 
 
 
 
int main()
{
    uint32_t i,t = 0;
  
    PC.baud(115200);
    TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
   
    TFC_Init();
    
    for(;;)
    {      
        //TFC_Task must be called in your main loop.  This keeps certain processing happy (I.E. Serial port queue check)
         //   TFC_Task();

            //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
            //Let's look at the middle 2 switches
            
                
                //Demo Mode 2 will use the Pots to make the motors move
                TFC_HBRIDGE_ENABLE;
               
                 TFC_SetMotorPWM(TFC_ReadPot(1),TFC_ReadPot(1));
                
                 if(TFC_Ticker[0]>=20)
                {
                    TFC_Ticker[0] = 0; //reset the Ticker
                    //Every 20 mSeconds, update the Servos
                    TFC_SetServo(0,servo_angle);
                    n_der=0;
                }     
               
                if(TFC_Ticker[1]>50 && TFC_LineScanImageReady>0)
                    {
                     TFC_Ticker[1] = 0;
                     TFC_LineScanImageReady=0;
                        if(t==0)
                            t=4;
                        else
                            t--;
                         TFC_SetBatteryLED_Level(t);
                        
                         // camera 1
                         for(i=0;i<128;i++)
                            
                         {if(TFC_LineScanImage0[i]<=1250)
                            vision[i]=0;
                            else 
                               vision[i]= 1;
                         }
                        
                        
                    }
                    for(i=65;i<70;i++)
                    {if(vision[i]==1)
                        n_der++;
                        else break;
                    }
                    //error= 5-n_der;
                    //if(error>5) error=(error-5)*-1;
                    //servo_angle=0.09*error;
                   
                    if(n_der<=7)
                    servo_angle=0.30;
                    else if(n_der<=12 && n_der>=8)servo_angle=0;
                    else if (n_der>=13)servo_angle=-0.30;
                    
                    if(TFC_Ticker[1]>1000&&(vision[63]==0||vision[67]))
                        servo_angle*=-1.0;
                    /*if(n_der<3)
                    servo_angle=0.25;
                    else if(n_der<=7 && n_der>=3)servo_angle=0;
                    else if (n_der>7)servo_angle=-0.25;*/
                    /*if(n_der<4 && n_der>0)
                    servo_angle=-0.3;
                    //else if(n_der<=6 && n_der>=4)servo_angle=0;
                    else if(n_der==5)servo_angle=0;
                    else if (n_der>6 && n_der<10)servo_angle=0.3;*/
    }
}