Diff: main.cpp

Revision:

10:e40ad924e935

Parent:

9:ad08181ad1cc

diff -r ad08181ad1cc -r e40ad924e935 main.cpp
--- a/main.cpp	Fri Apr 03 05:06:01 2015 +0000
+++ b/main.cpp	Mon Apr 06 19:28:45 2015 +0000
@@ -27,15 +27,18 @@
 float maxVal;
 int maxLoc;
 
+//Data Collection
+bool dataCol = false;
+
 //Line Crossing variables
 int prevTrackLoc;
-int spaceThresh = 5;
+int spaceThresh = 3;
 bool space;
 
 //Servo turning parameters
 float straight = 0.00155f;
 float hardLeft = 0.0010f;
-float hardRight = 0.0021f;
+float hardRight = 0.00195f;
 
 //Servo Directions
 float currDir;
@@ -71,7 +74,7 @@
 
 int numInterrupts = 0;
 
-float pulsewidth = 0.15f;
+float pulsewidth = 0.25f;
 
 // Hardware periods
 float motorPeriod = .0025;
@@ -80,7 +83,6 @@
 Timer t;
 Timer servoTimer;
 Timer printTimer; //after printTimer reaches a certain value the main loop will terminate and print the frames
-const float printTime = 5.0f;
 
 //Observed average speeds for each duty cycle
 const float DESIRED_SPEED = 1;
@@ -307,31 +309,27 @@
     break1 = 0;
     break2 = 0;
     
-    int loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime = 0;
-    t.start();
-    printTimer.start();
-    //wait(5);
+    //t.start();
+    
+    if(dataCol){
+        int loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime = 0;
+        printTimer.start();
+    }
 
     while(1) {
-        //break out of main loop if enough time has passed;    
-        if(loopCtr >= numData){
-            break;
+        if(dataCol){
+            //break out of main loop if enough time has passed;    
+            if(loopCtr >= numData && dataCol){
+                break;
+            }
         }
         if(integrationCounter % 151== 0){
+            /*
             //Disable interrupts
             interrupt.fall(NULL);
             interrupt.rise(NULL);
-          
-            /*
-            // copy frame into the vector to be printed  
-            std::vector<int> temp;
-            temp.reserve(128); //performance
-            for(int i=0; i<128; i++){
-                temp.push_back(ADCdata[i]);
-            }
-            frames.push_back(temp);
             */
-
+            
             //Send start of integration signal
             si = 1;
             clk = 1;
@@ -378,21 +376,24 @@
             }
             
             //Line Crossing Checks
-            if (maxCount >= 15 || space) {
+            if (space) {
                 currDir = prevDir;
             } else {
                 approxPos = (float)maxAccum/(float)maxCount;
 
-                if(loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime%3==0){
-                    lineCenters[loopCtr] = approxPos;
-                    times[loopCtr] = printTimer.read_ms();
-                    loopCtr++;
+                if(dataCol){
+                    if(loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime%3==0){
+                        lineCenters[loopCtr] = approxPos;
+                        times[loopCtr] = printTimer.read_ms();
+                        loopCtr++;
+                    }
                 }
+                
                 currDir = hardLeft + approxPos/((float) 127)*(hardRight-hardLeft);
                 
 
             }
-            
+
             //Change speed when turning at different angles
             /*if(approxPos > 0 && approxPos <= 45){
                     motor1.pulsewidth(motorPeriod*(pulsewidth/2));
@@ -434,21 +435,24 @@
 
         //clk = 0;
         integrationCounter++;
-        loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime++;
+        if(dataCol){
+            loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime++;
+        }
         //camData.
         
     }
-    
-    //print frame data
-    pc.printf("printing frame data\n\r");
-    //int frameSize = frames.size();
-    //pc.printf("%i",frameSize);
-    pc.printf("[");
-    for(int i=0; i<numData; i++){
-        if(lineCenters > 0){
-            pc.printf("%i %i,",lineCenters[i], times[i]);
+    if (dataCol){
+        //print frame data
+        pc.printf("printing frame data\n\r");
+        //int frameSize = frames.size();
+        //pc.printf("%i",frameSize);
+        pc.printf("[");
+        for(int i=0; i<numData; i++){
+            if(lineCenters > 0){
+                pc.printf("%i %i,",lineCenters[i], times[i]);
+            }
         }
+        pc.printf("]\n\r");
     }
-    pc.printf("]\n\r");
 }