譯文 張
/
BX-car
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Revision 2:c51647d3c14d, committed 2014-06-04
- Comitter:
- backman
- Date:
- Wed Jun 04 12:56:52 2014 +0000
- Parent:
- 1:82bc25a7b68b
- Child:
- 3:c5f2281b3ed2
- Commit message:
- two cam
Changed in this revision
--- a/camera_api.cpp Tue Jun 03 15:53:55 2014 +0000
+++ b/camera_api.cpp Wed Jun 04 12:56:52 2014 +0000
@@ -4,33 +4,32 @@
#define clk 2 //ms
- BX_camera::BX_camera(char cam){
-
+ BX_camera::BX_camera(void){
- cam_clk= new DigitalOut(PTE1) ;
-
- si = new DigitalOut(PTD7);
-
- line_Cam = new FastAnalogIn(PTD5);
+ line_CamR = new FastAnalogIn(PTD5);
+ line_CamL= new FastAnalogIn(PTD6,0);
+ cam_clk=new DigitalOut(PTE1);
+ si=new DigitalOut(PTD7);
-
-
-
+
}
-void BX_camera::read(void){
-
+ void BX_camera::read(void){
- w_f_v=0x0000;
- b_f_v=0xffff;
+ w_f_vL=0x0000;
+ b_f_vL=0xffff;
+
+ w_f_vR=0x0000;
+ b_f_vR=0xffff;
+
*si=1;
- *cam_clk=1;
+ *cam_clk=1;
wait_us(30); // tune here
*si=0;
@@ -38,24 +37,31 @@
- line_Cam->enable();
+ line_CamR->enable();
+ line_CamL->enable();
- //input 128
+ //input 128 //both
for(int i=0;i<128;i++){
- *cam_clk=1;
- wait_us(5);
+ *cam_clk=1;
+ wait_us(5);
- line_image[i]=line_Cam->read_u16();
-
+ line_imageR[i]=line_CamR->read_u16();
+ line_imageL[i]=line_CamL->read_u16();
// big small
- if(line_image[i] > w_f_v)
- w_f_v=line_image[i];
- else if(line_image[i] < b_f_v )
- b_f_v = line_image[i];
+ 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];
@@ -67,22 +73,35 @@
}
- line_Cam->disable();
+ line_CamR->enable();
+ line_CamL->enable();
-
- //filter
+ //filter L R //may change
for(int i=0;i<128;i++){
- if( (line_image[i]-b_f_v) < (w_f_v - line_image[i] ) )
- sign_line_image[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_image[i]='O';
+ sign_line_imageL[i]='O';
+
- if(i==0)
- sign_line_image[i]='X';
+
+
+
+ if(i==0){
+ sign_line_imageR[i]='X';
+ sign_line_imageL[i]='X';
+ }
+
}
--- a/camera_api.h Tue Jun 03 15:53:55 2014 +0000
+++ b/camera_api.h Wed Jun 04 12:56:52 2014 +0000
@@ -1,51 +1,46 @@
#include "bx-adc.h"
+#include "mbed.h"
+//cause same si and clk camR ,camL are synchronous
+
class BX_camera{
+ public:
+
+ //static
+ void read(void); //block in here
+
+ unsigned int line_imageR[128];
+ unsigned int line_imageL[128];
+
+
+ BX_camera();
+
+
+
+
+ char sign_line_imageL[128];
+ char sign_line_imageR[128];
+
+
+
+ private:
+
+ FastAnalogIn* line_CamR;
+ FastAnalogIn* line_CamL;
+ DigitalOut* cam_clk;
+ DigitalOut* si;
+
+ int w_f_vL;
+ int b_f_vL;
+
+ int w_f_vR;
+ int b_f_vR;
+
- public:
-
- BX_camera(char cam);
-
- void read(void); //block in here
-
-
- unsigned int line_image[128];
-
- char sign_line_image[128];
-
- private:
-
-
- DigitalOut *cam_clk;
- DigitalOut *si;
-
- FastAnalogIn *line_Cam;
-
- int w_f_v;
-
- int b_f_v;
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
--- a/main.cpp Tue Jun 03 15:53:55 2014 +0000
+++ b/main.cpp Wed Jun 04 12:56:52 2014 +0000
@@ -7,8 +7,7 @@
Serial pc(USBTX, USBRX);
BX_servo servo;
- BX_camera cam('n');
- PwmOut cam_clk(PTC3);
+ BX_camera cam;
int main() {
@@ -40,24 +39,33 @@
bool f4;
while(1){
-
+ //
cam.read();
for(int i=0;i<128;i++){
if(i==64)
pc.printf("X");
else
- pc.printf("%c", cam.sign_line_image[i]);
+ pc.printf("%c", cam.sign_line_imageL[i]);
+ }
+ pc.printf(" || ");
+
+ for(int i=0;i<128;i++){
+ if(i==64)
+ pc.printf("X");
+ else
+ 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
@@ -172,11 +180,13 @@
break;
}
- pc.printf("center :%d\r\n",center);
+ pc.printf("ang :%d\r\n ",( (64.0-center) /64.0 )*90);
//--------------------------------------------
-
-
-
+
+
+ servo.set_angle(( (64.0-center) /64.0 )*90 );
+
+ */
}
@@ -222,9 +232,9 @@
// angle+=cam.line_image[i]-cam.line_image[127-i];
- if(cam.line_image[i]==0)
+ if(cam.line_imageR[i]==0)
black_pR++;
- if(cam.line_image[127-i]==0)
+ if(cam.line_imageR[127-i]==0)
black_pL++;
}