Diff: main.cpp

Revision:

3:04f91137660a

Parent:

2:729063e39fb3

Child:

4:61edb416e860

--- a/main.cpp	Sat Apr 04 21:55:09 2015 +0000
+++ b/main.cpp	Sat Apr 04 22:21:19 2015 +0000
@@ -35,13 +35,13 @@
 
 // finds and sets by reference the values of the left and right bounds
 void Bounds(int &, int &, int);
- 
+int distance(int &, int &, int);
  
 int main()
 {
     uint32_t i,t,time = 0;
     
-    int a = 200, b = 200;
+    int a = 200, b = 200, d;
     
     int data[128];
     
@@ -64,11 +64,19 @@
             switch((TFC_GetDIP_Switch()>>1)&0x03)
             {
             default:
-            case 0 :
-            
-            TFC_HBRIDGE_ENABLE;
-                TFC_SetMotorPWM(.6,.6);
-                
+            case 0 ://initilazation case
+                if(TFC_Ticker[0]>50 && TFC_LineScanImageReady>0)
+                {
+                    TFC_Ticker[0] = 0;
+                    TFC_LineScanImageReady=0;
+                    if(TFC_PUSH_BUTTON_0_PRESSED)
+                    {
+                        black = FindBlack();
+                        d=distance(a,b,black);
+                    }
+                }
+                TFC_SetServo(0,0.0);
+                break;                   
                     
             case 1:
                 
@@ -287,4 +295,10 @@
     {
         return low2;
     }
-}    
\ No newline at end of file
+}
+int distance(int &a, int &b, int black)
+{
+    bounds(a,b,black);
+    return (a-b);
+}
+        
\ No newline at end of file