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Dependencies:   mbed

Fork of BX-car by Clark Lin

main.cpp

Committer:
backman
Date:
2014-06-11
Revision:
6:5a39bde2e016
Parent:
3:c5f2281b3ed2
Child:
7:fd976e1ced33

File content as of revision 6:5a39bde2e016:

#include "mbed.h"
#include "servo_api.h"
#include "camera_api.h"
#include "motor_api.h"

#define Debug_cam_uart
#define R_eye
//#define motor_on 
#define Pcontroller
//#define servo_center
Serial pc(USBTX, USBRX);


BX_servo servo; 

BX_camera cam;

BX_motor MotorA('A');
BX_motor MotorB('B');


int main() {
    
  /*  
    int black_va;
    int white_va;
    */
      
    #ifdef servo_center
 
    
       while(1)
    servo.set_angle(0);
    #endif

      pc.baud(115200);
     
  #ifdef Pcontroller  
     
     
     int car_center=30;
     
     double Kp= 90.0/64.0;
     
     #ifdef motor_on 
     double motor=0.3;
    
    
  
     MotorA.rotate(motor);
     MotorB.rotate(motor);
    #endif
     int error=0;
     
     
     while(1){
         
        cam.read();  
     
    // #ifdef Debug_cam_uart
     
      #ifdef L_eye  
        for(int i=0;i<128;i++){
             if(i==64)
               pc.printf("X");
             else          
               pc.printf("%c", cam.sign_line_imageL[i]);
         }
         pc.printf("           ||             ");
         #endif
      //   #ifdef R_eye
         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");
     //    #endif
         
         
       
     
     
     
     
  
     
   

      //   #endif   
     
     
     
     
     
     
     
     
     
     
     
       
        
        error=car_center-cam.black_centerR();
     
     
         
     
        servo.set_angle((int)Kp*error);
    
        pc.printf("b1s: %d b1e:%d b_center %d  error :%d angle %d\r\n",cam.debugV,cam.debugV2,cam.black_centerR(),error,(int)Kp*error);
     
     
     }
   #endif   
     
   
    
    
    
    return 0;
    
    
}