Diff: ucam.cpp

Revision:

2:01115080f6da

Parent:

1:70d90598d2e7

--- a/ucam.cpp	Thu Dec 10 21:16:57 2009 +0000
+++ b/ucam.cpp	Mon Dec 14 08:28:21 2009 +0000
@@ -7,6 +7,7 @@
 #include "MotionFinder.h"
 #include "Servo.h"
 #include "SerialBuffered.h"
+#include "Blinker.h"
 
 
 // ucam protocol implementation for mbed
@@ -29,38 +30,27 @@
 
 
 
-Servo xServo (p21);
+Servo xServo (p23);
 Servo yServo (p22);
-Servo eyelidServo (p23); 
-#define EYE_CLOSED 0.15
-#define EYE_OPEN 0.8 
+Servo eyelidServo (p21); 
+ServoMinder *eyelidMinder = new ServoMinder( &eyelidServo );
+Blinker *blinker = new Blinker( eyelidMinder ); 
+ 
 
 MotionFinder *motionFinder = NULL;
 
 
-void testEyelid()
-{
- ServoMinder *eyelidMinder = new ServoMinder( &eyelidServo );
-
-    eyelidMinder->setSpeed( 1 );
-      eyelidMinder->moveToAndWait( EYE_CLOSED );
-  
-      eyelidMinder->setSpeed( 0.1 );
-      eyelidMinder->moveToAndWait( EYE_OPEN );
-      eyelidMinder->setSpeed( 2 );
-      eyelidMinder->moveToAndWait( EYE_CLOSED );
-      eyelidMinder->moveToAndWait( EYE_OPEN );
-}
       
 void UCamInit() {
    
-    
+   
+
+    blinker->close();
       
     ucam.doStartup();
     Frame::initFrames();
     
-     
-    testEyelid();
+    blinker->open();
   
     motionFinder = new MotionFinder( new ServoMinder(&xServo), new ServoMinder(&yServo) );