Lowe Dantzler
Description.
Dependencies: Camera_LS_Y201 FatFileSystemSD Motor SDFileSystem Servo mbed
Revision 0:c425cf9d5096, committed 2012-10-12
- Comitter:
- lndv3
- Date:
- Fri Oct 12 16:44:04 2012 +0000
- Commit message:
- Commit.
Changed in this revision
diff -r 000000000000 -r c425cf9d5096 Camera_LS_Y201.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Camera_LS_Y201.lib Fri Oct 12 16:44:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/lndv3/code/Camera_LS_Y201/#e92ce527b8b0
diff -r 000000000000 -r c425cf9d5096 FatFileSystemSD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FatFileSystemSD.lib Fri Oct 12 16:44:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/carlos_nascimento08/code/FatFileSystemSD/#6ce49c16703c
diff -r 000000000000 -r c425cf9d5096 Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Fri Oct 12 16:44:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r c425cf9d5096 SDFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Fri Oct 12 16:44:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/lndv3/code/SDFileSystem/#97e0c0200e51
diff -r 000000000000 -r c425cf9d5096 Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Fri Oct 12 16:44:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/lndv3/code/Servo/#2176f8595b34
diff -r 000000000000 -r c425cf9d5096 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 12 16:44:04 2012 +0000
@@ -0,0 +1,134 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "Camera_LS_Y201.h"
+#include "SDFileSystem.h"
+#include "Motor.h"
+
+#define USE_SDCARD 1
+
+#if USE_SDCARD
+#define FILENAME "/sd/IMG_%04d.jpg"
+SDFileSystem fs(p5, p6, p7, p8, "sd");
+#else
+#define FILENAME "/local/IMG_%04d.jpg"
+LocalFileSystem fs("local");
+#endif
+
+Camera_LS_Y201 cam1(p13, p14);
+
+typedef struct work {
+ FILE *fp;
+} work_t;
+
+work_t work;
+
+void callback_func(int done, int total, uint8_t *buf, size_t siz)
+{
+ fwrite(buf, siz, 1, work.fp);
+
+ static int n = 0;
+ int tmp = done * 100 / total;
+ if (n != tmp) {
+ n = tmp;
+ }
+}
+
+int capture(Camera_LS_Y201 *cam, char *filename)
+{
+
+ if (cam->takePicture() != 0) {
+ return -1;
+ }
+
+ work.fp = fopen(filename, "wb");
+ if (work.fp == NULL) {
+ return -2;
+ }
+
+ if (cam->readJpegFileContent(callback_func) != 0) {
+ fclose(work.fp);
+ return -3;
+ }
+ fclose(work.fp);
+
+ cam->stopTakingPictures();
+
+ return 0;
+}
+
+Motor M_A(p25, p27, p28); // pwm, fwd, rev
+Motor M_B(p26, p29, p30); // pwm, fwd, rev
+
+Servo servo_01(p23);
+Servo servo_02(p24);
+
+int main()
+{
+ int cnt = 0;
+
+ int n = 3;
+ int m = 3;
+
+ float range = 0.0009;
+ float degrees = 90.0;
+ float init_pos_01 = -90.0;
+ float init_pos_02 = 30.0;
+
+ cam1.reset();
+ cam1.setImageSize(Camera_LS_Y201::ImageSize160x120);
+
+ servo_01.calibrate(range,degrees);
+ servo_02.calibrate(range,degrees);
+
+ char fname[64];
+ int r;
+
+ for(int kk=0; kk<=1; kk++) {
+
+ for(int i=0; i<=n; i++) {
+
+ servo_01.position(init_pos_01 + ((2*degrees)*i/n));
+
+ for(int j=0; j<m; j++) {
+
+ if(i%2==0) {
+ servo_02.position((j*(degrees/m)) + init_pos_02);
+ } else {
+ servo_02.position((m-j-1)*(degrees/m) + init_pos_02);
+ }
+
+ // A wait to make certain the servos have moved into place.
+ wait(0.75);
+
+ snprintf(fname, sizeof(fname) - 1, FILENAME, cnt);
+ r = capture(&cam1, fname);
+
+ // Only move to the next position if the write is successful.
+ if(r == 0) {
+ cnt++;
+ }
+ else {
+ j--;
+ }
+
+ }
+
+ }
+
+ if (kk==0) {
+ M_A.speed(0.5);
+ M_B.speed(-0.5);
+ wait(1.525);
+ M_A.speed(0.0);
+ M_B.speed(0.0);
+ wait(0.5);
+ M_A.speed(-0.5);
+ M_B.speed(-0.5);
+ wait(0.775);
+ M_A.speed(0.0);
+ M_B.speed(0.0);
+ }
+
+ }
+
+}
\ No newline at end of file
diff -r 000000000000 -r c425cf9d5096 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Oct 12 16:44:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/cd19af002ccc \ No newline at end of file