Kurt Nalty
Austin Community College initial line follower program for Freescale car. This is based upon the FRDM-TFC code at mbed.org.
Fork of
FRDM-TFC
by 
Eli Hughes
Austin Community College - Initial Specs for FRDM-TFC line following car.
This uses the fine library by ELI HUGHES.
Our goal here is to provide the simplest line-follower as a quick car checkout.
First, we limit the run duration for the car, so that you can catch it, if necessary. Right DIP switch (4) sets run time. 0 => 5 sec, 1 => 10 sec.
We provide simple speed selection with the other three DIP switches. I recommend 001 as the slowest real speed, (000 is stop, of course). DIP switches 1 2 3 make a 3 bit speed. 1 is msb, 3 is lsb
The car won't start until you press and release the driver's side PB. Left PB (TFC_PUSH_BUTTON_1) is permissive GO on release using left 3 DIPs for speed 0-7.
The car will stop when the passenger side PB is pressed. Right PB is STOP - TFC_PUSH_BUTTON_0
TFC_Ticker[3] is our run time counter. Like the Code Warrior edition, we use msec tickers.
Left (Driver side) trim pot 1 can be used to trim static steering servo Right trim pot 0 can be used to offset line camera
Back LED reflects drive motor status. The top three are not currently used.
Diff: main.cpp
- Revision:
- 4:8a4a3fc59e57
- Parent:
- 3:23cce037011f
- Child:
- 5:9d36b4c896e1
--- a/main.cpp Thu Aug 15 23:26:19 2013 +0000
+++ b/main.cpp Wed Sep 04 02:48:20 2013 +0000
@@ -127,10 +127,12 @@
case 3 :
+ uint32_t NumCameras = 1; // Enter here how many line scan cameras hooked up
+
//Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the
//Labview Application
- //note that there are some issues
+
if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0)
{
TFC_Ticker[0] = 0;
@@ -145,30 +147,42 @@
TFC_SetBatteryLED_Level(t);
+ // camera 1
for(i=0;i<8;i++)
{
for(j=0;j<16;j++)
{
- TERMINAL_PRINTF("%X,",TFC_LineScanImage0[(i*8)+j]);
-
+ TERMINAL_PRINTF("%X",TFC_LineScanImage0[(i*16)+j]);
+
+ if (NumCameras == 1)
+ {
+ if((i==7)&&(j==15))
+ TERMINAL_PRINTF("\r\n",TFC_LineScanImage0[(i*16)+j]);
+ else
+ TERMINAL_PRINTF(",",TFC_LineScanImage0[(i*16)+j]);
+ }
+
}
wait_ms(10);
}
-
- for(i=0;i<8;i++)
- {
- for(j=0;j<16;j++)
+
+ // camera 2
+ if (NumCameras == 2)
+ {
+ for(i=0;i<8;i++)
+ {
+ for(j=0;j<16;j++)
{
- TERMINAL_PRINTF("%X",TFC_LineScanImage1[(i*8)+j]);
+ TERMINAL_PRINTF("%X",TFC_LineScanImage1[(i*16)+j]);
- if((i*8)+j==127)
- TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*8)+j]);
- else
- TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*8)+j]);
- }
-
- wait_ms(10);
- }
+ if((i==7)&&(j==15))
+ TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*16)+j]);
+ else
+ TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*16)+j]);
+ }
+ wait_ms(10);
+ }
+ }
}