File content as of revision 11:ffd762ae141b:

#include "mbed.h"
#include "camera_api.h"
#define clk 2  //ms




BX_camera::BX_camera(void)
{

    line_CamR = new FastAnalogIn(PTD5);
    line_CamL=   new FastAnalogIn(PTD6,0);
    cam_clk=new DigitalOut(PTE1);
    si=new DigitalOut(PTD7);

}

int BX_camera::black_centerR(void)
{

    int black_left , black_right;
    
    for(int i = 10; i < 115; i++){
        if(sign_line_imageR[i] == 'O' && sign_line_imageR[i+1] == ' ' && sign_line_imageR[i+2] == ' '){
            black_left = i;
            break;
        }
    } 
    
    for(int i = 115; i > 10; i--){
        if(sign_line_imageR[i] == ' ' && sign_line_imageR[i+1] == ' ' && sign_line_imageR[i+2] == ' '){
            black_right = i+2;
            break;
        }
    }
    
    return (black_left + black_right) / 2;


   
}




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)
{

    w_f_vL=0x0000;
    b_f_vL=0xffff;

    w_f_vR=0x0000;
    b_f_vR=0xffff;




    *si=1;
    *cam_clk=1;

    wait_us(30);   // tune here
    *si=0;
    *cam_clk=0;



    line_CamR->enable();
    line_CamL->enable();


    //input 128 //both

    for(int i=127; i>=0; i--) {
        *cam_clk=1;
        wait_us(5);


        line_imageR[i]=line_CamR->read_u16();
        line_imageL[i]=line_CamL->read_u16();

        //  big small
        if(line_imageR[i] > w_f_vR)
            w_f_vR=line_imageR[i];
        else if(line_imageR[i] < b_f_vR )
            b_f_vR = line_imageR[i];


        if(line_imageL[i] > w_f_vL)
            w_f_vL=line_imageL[i];
        else if(line_imageL[i] < b_f_vL )
            b_f_vL = line_imageL[i];




        *cam_clk=0;
        wait_us(5);


    }


    line_CamR->enable();
    line_CamL->enable();


    //filter L R   //may change

    for(int i=127; i>=0; i--) {


        if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] )    )
            sign_line_imageR[i]=' ';
        else
            sign_line_imageR[i]='O';


        if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] )    )
            sign_line_imageL[i]=' ';
        else
            sign_line_imageL[i]='O';





        if(i==0) {
            sign_line_imageR[i]='X';
            sign_line_imageL[i]='X';
        }


    }



}