Revision 15:7f21c08be164, committed 2014-07-10

Comitter:

physicsgood

Date:

Thu Jul 10 16:38:27 2014 +0000

Parent:

14:8b17b298b4dd

Commit message:

QQQQQQQQ

Changed in this revision

--- a/camera_api.cpp	Thu Jul 10 14:52:32 2014 +0000
+++ b/camera_api.cpp	Thu Jul 10 16:38:27 2014 +0000
@@ -46,8 +46,135 @@
  }
  
 
+void BX_camera::read(void)
+{
  
- void BX_camera::read(void){
+    w_f_vL=0x0000;
+    b_f_vL=0xffff;
+ 
+    w_f_vR=0x0000;
+    b_f_vR=0xffff;
+ 
+ 
+     line_CamR->enable();
+ 
+    *si=1;
+    *cam_clk=1;
+ 
+    wait_us(30);   // tune here
+    *si=0;
+    *cam_clk=0;
+ 
+ 
+   
+    
+ 
+ 
+    //input 128 //both
+ 
+    for(int i=127; i>=0; i--) {
+        *cam_clk=1;
+        wait_us(5);
+ 
+ 
+        line_imageR[i]=line_CamR->read_u16();
+  
+      
+      
+       
+ 
+        //  big small
+        if(line_imageR[i] > w_f_vR)
+            w_f_vR=line_imageR[i];
+        else if(line_imageR[i] < b_f_vR )
+            b_f_vR = line_imageR[i];
+ 
+ 
+ 
+ 
+ 
+        *cam_clk=0;
+        wait_us(5);
+ 
+ 
+    }
+   line_CamR->disable();
+ 
+  *si=1;
+    *cam_clk=1;
+ 
+    wait_us(30);   // tune here
+    *si=0;
+    *cam_clk=0;
+ 
+ 
+    
+    line_CamL->enable();
+     for(int i=127; i>=0; i--) {
+        *cam_clk=1;
+        wait_us(5);
+ 
+ 
+    
+  
+      
+      
+        line_imageL[i]=line_CamL->read_u16();
+ 
+        //  big small
+     
+ 
+        if(line_imageL[i] > w_f_vL)
+            w_f_vL=line_imageL[i];
+        else if(line_imageL[i] < b_f_vL )
+            b_f_vL = line_imageL[i];
+ 
+ 
+ 
+ 
+        *cam_clk=0;
+        wait_us(5);
+ 
+ 
+    }
+    
+    
+   
+  
+    line_CamL->disable();
+ 
+    //filter L R   //may change
+ 
+    for(int i=0; i<128; i++) {
+ 
+ 
+        if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] )    )
+            sign_line_imageR[i]=' ';
+        else
+            sign_line_imageR[i]='O';
+ 
+ 
+        if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] )    )
+            sign_line_imageL[i]=' ';
+        else
+            sign_line_imageL[i]='O';
+ 
+ 
+ 
+ 
+ 
+        if(i==0) {
+            sign_line_imageR[i]='X';
+            sign_line_imageL[i]='X';
+        }
+ 
+ 
+    }
+ 
+ 
+ 
+}
+/* void BX_camera::read(void){
  
           w_f_vL=0x0000;
           b_f_vL=0xffff;
@@ -137,4 +264,4 @@
            
            
            
-           }
\ No newline at end of file
+           }*/
\ No newline at end of file

--- a/main.cpp	Thu Jul 10 14:52:32 2014 +0000
+++ b/main.cpp	Thu Jul 10 16:38:27 2014 +0000
@@ -27,7 +27,7 @@
     int t = 0;
     double last = 0.0;
     double avgg = middle,last_avgg = middle, next_avgg = middle;
-    double v = 0.4;
+    double v = 0.5;
     
     //char psudo_line[128];
     
@@ -90,8 +90,8 @@
                 turn = 0.026;
             else 
                 turn = 0.054;
-            /*else 
-                turn = middle;*/
+            //else 
+              //  turn = middle;
             flag = 0;
             
         } else if (black_centerL == 118 && black_centerR != 10){//no left line turn right flag = 1
@@ -158,23 +158,23 @@
         times++;
         t++;
 
-        if(times == 2){
+        if(times == 5){
             
             avg = last_turn / times;
             if(avg < 0.042 && avg > 0.034){
-                v = 0.4;
+                v = 0.5;
             }
             else{
                 v = 0.18;
             }
             MotorA.rotate(v);
             MotorB.rotate(v);
-            servo.set_angle((avg*7 + next_avgg)/8);
+            servo.set_angle((avg*6 + next_avgg)/7);
             //servo.set_angle(avg);
             times = last_turn = 0;
             
         }
-        if(t == 500){
+        if(t == 1000){
             last_avgg = avgg;
             avgg = last / t;
             next_avgg = 2*avgg -last_avgg;