Diff: main.cpp

Revision:

13:63f9a5101205

Parent:

12:fdada4af384a

Child:

14:2d90b0066fc6

--- a/main.cpp	Sat Jun 28 06:33:28 2014 +0000
+++ b/main.cpp	Sat Jun 28 08:37:06 2014 +0000
@@ -25,7 +25,7 @@
 
 BX_servo servo; 
 
-BX_camera cam;
+BX_camera cam(79);
 
 BX_motor MotorA('A');
 BX_motor MotorB('B');
@@ -97,18 +97,18 @@
     stdio_mutex.lock();    
     #ifdef Debug_cam_uart 
       #ifdef L_eye  
-        pc.printf("L: ");
-        for(int i=0;i<128;i++){
+         pc.printf("R: ");
+        for(int i=128;i>=0;i--){
              if(i==64)
                pc.printf("X");
              else if(i<10)
                pc.printf("-");
              else if(i>117)
-               pc.printf("-");  
-               
+               pc.printf("-");
              else          
-               pc.printf("%c", cam.sign_line_imageL[i]);
+               pc.printf("%c", cam.sign_line_imageL[i]);         
          }
+         
          pc.printf("           ||             ");
       #endif
       #ifdef R_eye
@@ -125,7 +125,7 @@
          }
          pc.printf("\r\n");
      #endif
-         pc.printf("L: %d  mid: %d R: %d\r\n",line3[0],line3[1],line3[2]);
+         pc.printf("L: %d  mid: %d R: %d   center : %d    \r\n",line3[0],line3[1],line3[2],(line3[0]+line3[2])/2 );
          stdio_mutex.unlock();
      
          
@@ -153,8 +153,11 @@
             
         
              v_servo=cam_to_M_ctrlr.compute(ctrl,118.0);
+             
+          //   pc.printf("angle: %f\r\n",v_servo);
+              stdio_mutex.lock();
              servo.set_angle(v_servo);
-            
+             stdio_mutex.unlock();
          Thread::wait(20);    
         }    
     
@@ -178,7 +181,7 @@
     
     }
 
-
+/*
 void ctrl_thread(void const *args){
     
     
@@ -196,7 +199,7 @@
     
     
 }
-
+*/
 
 // global resource
 
@@ -221,7 +224,7 @@
     */
       Thread th_c(cam_thread);
    //   Thread thread(ctrl_thread);  
-   //   Thread thread(servo_thread);  
+      Thread thread(servo_thread);  
    //   Thread thread(motor_thread);     
         Thread th_de(de_thread);  
      while(1){