Diff: IRObjDetector.cpp

Revision:

1:695f4f4442d3

Parent:

0:d4427d048a98

Child:

2:a9351d7f92b4

diff -r d4427d048a98 -r 695f4f4442d3 IRObjDetector.cpp
--- a/IRObjDetector.cpp	Sun Sep 09 22:28:06 2012 +0000
+++ b/IRObjDetector.cpp	Fri Nov 02 03:00:29 2012 +0000
@@ -8,10 +8,19 @@
 {
     int i;
     uint32_t max = 0;
-    int32_t  tmp;
+    int32_t  tmp = 0;
     
     //data[7] = ain.read_u16() >> 8; // Read the ambient level and store in last data slot.
-    data[7] = ain.read_u16(); // Read the ambient level and store in last data slot.    
+    //data[7] = ain.read_u16(); // Read the ambient level and store in last data slot.    
+    
+    // Average 4 readings of ambient.
+    tmp += ain.read_u16();
+    tmp += ain.read_u16();
+    tmp += ain.read_u16();
+    tmp += ain.read_u16();
+    
+    // Store ambient level in last data slot.
+    data[7] = tmp / 4;
     
     // Set the IR leds one at a time and read the reflection.    
     for (i = 0; i < 7; i++)
@@ -24,11 +33,22 @@
         wait_us(DWELL_TIME);
         // Read ADC value and subtract off ambient.
         //tmp = (ain.read_u16() >> 8) - data[7];
-        tmp = ain.read_u16() - data[7];
+        //tmp = ain.read_u16() - data[7];
+        // Average 4 readings
+        tmp = 0;
+        tmp += ain.read_u16();
+        tmp += ain.read_u16();
+        tmp += ain.read_u16();
+        tmp += ain.read_u16();
+        
+        // Take reading and subtract off ambient.
+        tmp = tmp / 4 - data[7];
+        
         if (tmp < 0) 
             data[i] = 0;
         else
             data[i] = tmp >> 8;
+            
         // Disable the selected LED.
         tlc5916.disable();
         
@@ -39,6 +59,7 @@
     
     brightness = max;
 
+#if 0
     brightnessBins[currentBin++] = brightness;
 
     // Calculate running average over BRIGHTNESS_BINS bins.
@@ -56,6 +77,9 @@
 
     if (currentBin >= BRIGHTNESS_BINS)
         currentBin = 0;
+#else
+    avgBrightness = brightness;
+#endif
 }
 
 float