Diff: main.cpp

Revision:

16:b78dce5c0e98

Parent:

15:585df3979be8

Child:

17:3dac99cf2b89

--- a/main.cpp	Sun Jun 29 14:02:25 2014 +0000
+++ b/main.cpp	Sun Jun 29 14:32:30 2014 +0000
@@ -15,8 +15,8 @@
 #define task_ma_time
 
 
-#define car_center 64
-
+#define R_target 20
+#define L_target 108
 
 
 
@@ -54,6 +54,7 @@
 
 
 static int b_r_c=64;
+static int b_l_c=64;
 static int pre_b_r_c;
 
 static double v_motor;
@@ -71,11 +72,11 @@
         
      
             b_r_c=cam.black_centerR();
+            b_l_c=cam.black_centerL();
+            //if(b_r_c==-1)
+             //  b_r_c=pre_b_r_c;
             
-            if(b_r_c==-1)
-               b_r_c=pre_b_r_c;
-            
-            pre_b_r_c=b_r_c;
+            //pre_b_r_c=b_r_c;
             Thread::wait(t_cam);
         
         }
@@ -144,8 +145,11 @@
 
         while(1){
         
-      
-         v_servo=cam_to_M_ctrlr.compute(b_r_c,car_center);        
+        if(b_r_c!=-1)
+         v_servo=cam_to_M_ctrlr.compute(b_r_c,R_target);     
+        if(b_l_c!=-1)
+         v_servo=cam_to_M_ctrlr.compute(b_l_c,L_target);     
+            
          
          
             
@@ -211,7 +215,7 @@
    //   Thread thread(ctrl_thread);  
       Thread th_s(servo_thread);  
       Thread th_m(motor_thread);     
-     Thread th_de(de_thread);  
+   //  Thread th_de(de_thread);  
      while(1){