Tony Lin
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Revision 3:c5f2281b3ed2, committed 2014-06-04
- Comitter:
- backman
- Date:
- Wed Jun 04 14:41:28 2014 +0000
- Parent:
- 2:c51647d3c14d
- Child:
- 4:05b21dbca0c7
- Commit message:
- center;
Changed in this revision
--- a/camera_api.cpp Wed Jun 04 12:56:52 2014 +0000
+++ b/camera_api.cpp Wed Jun 04 14:41:28 2014 +0000
@@ -16,6 +16,273 @@
}
+int BX_camera::black_centerR(void){
+
+
+ // find center
+ // case 1 // | //
+ // case 2 / | /
+
+ char find_type=0x00;
+
+ int b_end=0;
+ int b_start=0;
+
+ int b2_end=0;
+ int b2_start=0;
+
+
+ int center;
+ int j=64;
+ bool f1=false;
+ bool f2=false;
+ bool f3=false;
+ bool f4=false;
+
+
+ if(sign_line_imageR[64]==' ')
+ find_type=0x02;
+ else
+ find_type=0x01;
+
+
+ for(int i=64;i<128; i++,j--){
+
+
+ switch(find_type){
+
+
+ case 0x01:
+
+ if(f1==false&&sign_line_imageR[i]==' '){
+ if(f1==false){
+ b_start=i;
+ f1=true;
+ }
+
+ }
+ if(f1== true&& f2==false&&sign_line_imageR[i]=='O'){
+ if(f2==false){
+ b_end=i-1;
+ f2=true;
+ }
+
+ }
+
+ if(f3==false&&sign_line_imageR[j]==' '){
+ if(f3==false){
+ b2_end=j;
+ f3=true;
+ }
+
+ }
+ if(f3==true&&f4==false&&sign_line_imageR[j]=='O'){
+ if(f4==false){
+ b2_start=j-1;
+ f4=true;
+ }
+
+ }
+
+
+ break;
+
+
+ case 0x02:
+
+ if(sign_line_imageR[i]=='O'){
+
+ if(f1==false){
+ b_end=i;
+ f1=true;
+ }
+ }
+
+ if(sign_line_imageR[j]=='O'){
+
+ if(f2==false){
+ b_start=j;
+ f2=true;
+ }
+
+ }
+
+
+ break;
+
+
+
+
+ }
+
+
+ }
+
+
+ switch(find_type){
+
+ case 0x01:
+
+ if((b_end-b_start)>(b2_end-b2_start) )
+ center=(b_end+b_start)/2;
+
+ else
+ center=(b2_end+b2_start)/2;
+ break;
+
+ case 0x02:
+ center=(b_end+b_start)/2;
+
+ break;
+ }
+
+
+ return center;
+
+ }
+
+
+
+
+int BX_camera::black_centerL(void){
+
+ // find center
+ // case 1 // | //
+ //case 2 / | /
+
+
+ char find_type=0x00;
+
+ int b_end=0;
+ int b_start=0;
+ int b2_end=0;
+ int b2_start=0;
+
+
+ int center;
+ int j=64;
+ bool f1=false;
+ bool f2=false;
+ bool f3=false;
+ bool f4=false;
+
+
+ if(sign_line_imageL[64]==' ')
+ find_type=0x02;
+ else
+ find_type=0x01;
+
+
+ for(int i=64;i<128; i++,j--){
+
+
+ switch(find_type){
+
+
+ case 0x01:
+
+ if(f1==false&&sign_line_imageL[i]==' '){
+ if(f1==false){
+ b_start=i;
+ f1=true;
+ }
+
+ }
+ if(f1== true&& f2==false&&sign_line_imageL[i]=='O'){
+ if(f2==false){
+ b_end=i-1;
+ f2=true;
+ }
+
+ }
+
+ if(f3==false&&sign_line_imageL[j]==' '){
+ if(f3==false){
+ b2_end=j;
+ f3=true;
+ }
+
+ }
+ if(f3==true&&f4==false&&sign_line_imageL[j]=='O'){
+ if(f4==false){
+ b2_start=j-1;
+ f4=true;
+ }
+
+ }
+
+
+
+
+
+
+
+
+ break;
+
+
+ case 0x02:
+
+ if(sign_line_imageL[i]=='O'){
+
+ if(f1==false){
+ b_end=i;
+ f1=true;
+ }
+ }
+
+ if(sign_line_imageL[j]=='O'){
+
+ if(f2==false){
+ b_start=j;
+ f2=true;
+ }
+
+ }
+
+
+ break;
+
+
+
+
+ }
+
+
+ }
+
+
+ switch(find_type){
+
+ case 0x01:
+
+ if((b_end-b_start)>(b2_end-b2_start) )
+ center=(b_end+b_start)/2;
+
+ else
+ center=(b2_end+b2_start)/2;
+ break;
+
+ case 0x02:
+ center=(b_end+b_start)/2;
+
+ break;
+ }
+
+ return center;
+
+ }
+
+
+
+
+
+
+
+
+
+
+
void BX_camera::read(void){
--- a/camera_api.h Wed Jun 04 12:56:52 2014 +0000
+++ b/camera_api.h Wed Jun 04 14:41:28 2014 +0000
@@ -11,13 +11,14 @@
//static
void read(void); //block in here
- unsigned int line_imageR[128];
- unsigned int line_imageL[128];
+
BX_camera();
-
+
+ int black_centerR(void); //index 0~127
+ int black_centerL(void);
char sign_line_imageL[128];
@@ -31,6 +32,10 @@
FastAnalogIn* line_CamL;
DigitalOut* cam_clk;
DigitalOut* si;
+
+ unsigned int line_imageR[128]; //may buffer
+ unsigned int line_imageL[128];
+
int w_f_vL;
int b_f_vL;
--- a/main.cpp Wed Jun 04 12:56:52 2014 +0000
+++ b/main.cpp Wed Jun 04 14:41:28 2014 +0000
@@ -1,7 +1,9 @@
#include "mbed.h"
#include "servo_api.h"
#include "camera_api.h"
-//BX_servo servo;
+
+
+#define Debug_cam_uart
Serial pc(USBTX, USBRX);
@@ -9,6 +11,8 @@
BX_camera cam;
+
+
int main() {
/*
@@ -16,31 +20,13 @@
int white_va;
*/
-
+#ifdef Debug_cam_uart
pc.baud(115200);
-
-
- char find_type=0x00;
-
- int b_end;
- int b_start;
-
- int b2_end;
- int b2_start;
-
+ while(1){
- int center;
- int j=64;
- bool f1;
- bool f2;
- bool f3;
- bool f4;
- while(1){
-
- //
- cam.read();
+ cam.read();
for(int i=0;i<128;i++){
if(i==64)
@@ -57,141 +43,33 @@
pc.printf("%c", cam.sign_line_imageR[i]);
}
pc.printf("\r\n");
-
-
-
-
-
- // find center
- // case 1 // | //
- //case 2 / | /
- /*
- if(cam.sign_line_image[64]==' ')
- find_type=0x02;
- else
- find_type=0x01;
-
- b_start=0;
- b_end=0;
- b2_start=0;
- b2_end=0;
-
- j=64;
- f1=false;
- f2=false;
- f3=false;
- f4=false;
- for(int i=64;i<128; i++,j--){
-
-
- switch(find_type){
-
-
- case 0x01:
-
- if(f1==false&&cam.sign_line_image[i]==' '){
- if(f1==false){
- b_start=i;
- f1=true;
- }
-
- }
- if(f1== true&& f2==false&&cam.sign_line_image[i]=='O'){
- if(f2==false){
- b_end=i-1;
- f2=true;
- }
-
- }
-
- if(f3==false&&cam.sign_line_image[j]==' '){
- if(f3==false){
- b2_end=j;
- f3=true;
- }
-
- }
- if(f3==true&&f4==false&&cam.sign_line_image[j]=='O'){
- if(f4==false){
- b2_start=j-1;
- f4=true;
- }
-
- }
-
-
-
-
-
-
-
-
- break;
-
-
- case 0x02:
-
- if(cam.sign_line_image[i]=='O'){
-
- if(f1==false){
- b_end=i;
- f1=true;
- }
- }
-
- if(cam.sign_line_image[j]=='O'){
-
- if(f2==false){
- b_start=j;
- f2=true;
- }
-
- }
-
-
- break;
-
-
-
-
- }
-
-
- }
-
-
- switch(find_type){
-
- case 0x01:
-
- if((b_end-b_start)>(b2_end-b2_start) )
- center=(b_end+b_start)/2;
-
- else
- center=(b2_end+b2_start)/2;
-
- pc.printf("%d %d | %d %d\r\n",b_start,b_end,b2_start,b2_end);
-
-
- break;
-
- case 0x02:
- center=(b_end+b_start)/2;
-
- break;
- }
- pc.printf("ang :%d\r\n ",( (64.0-center) /64.0 )*90);
+
+
+
+ pc.printf("R center : %d \r\nL center: %d\r\n",cam.black_centerR(),cam.black_centerL());
+
+
+ }
+
+
+
+
+
+
+
+
+ // pc.printf("ang :%d\r\n ",( (64.0-center) /64.0 )*90);
//--------------------------------------------
- servo.set_angle(( (64.0-center) /64.0 )*90 );
+ // servo.set_angle(( (64.0-center) /64.0 )*90 );
- */
+
- }
+
-
+ #endif
@@ -204,113 +82,6 @@
-
-
- //tmp
- int angle;
- float black_pR=0;
- float black_pL=0;
- float black_pT=0;
- //tune
-/*
- int min_va=90000;
- int max_va=0;
- int mid_va=0;
- */
-
-
-
- while(1){
- black_pR=0;
- black_pL=0;
- black_pT=0;
- // min_va=90000;
- // max_va=0;
- angle=0;
- cam.read();
- for(int i=0;i<64;i++){
-
-
- // angle+=cam.line_image[i]-cam.line_image[127-i];
- if(cam.line_imageR[i]==0)
- black_pR++;
- if(cam.line_imageR[127-i]==0)
- black_pL++;
- }
-
-
- black_pT=black_pL+black_pR;
-
-
- if(black_pL>black_pT/2){
-
- angle=(black_pR/black_pT)*90;
-
- //angle=
- }
- else if(black_pR>black_pT/2){
-
- angle=-1.0*(black_pR/black_pT)*90;
- //angle=-0.5;
- }
- else{
-
- angle=0;
-
- }
- servo.set_angle(angle);
- pc.printf("ang: %d",angle);
- pc.printf("\r\n");
-
-
-
-
-
-
-
- }
-
-
-
-
-
-
-
- // pc.printf("mid: %d|min: %d | max: %d | diff: %d",mid_va,min_va,max_va,max_va-min_va);
-
-
-
-
-
- //p - controller
-
- //servo angle not yet contorl
-
-
-
-
-
-
-
-
-
-
-
-
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-
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-
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-
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-