File content as of revision 21:5f7efc1ca8ad:

#include "mbed.h"
#include "camera_api.h"
 
#define clk 2  //ms
 
BX_camera::BX_camera(int p)
{
 
    line_CamR = new FastAnalogIn(PTD5);
    line_CamL=   new FastAnalogIn(PTD6,0);
    cam_clk=new DigitalOut(PTE1);
    si=new DigitalOut(PTD7);
    padding = p;
}
int BX_camera::black_center(void)
{
    int black_L_right = 96   , black_R_left = 32;
    
    for(int i = 10; i <118; i++){
        if(sign_line_imageR[i] == 'O' && sign_line_imageR[i+1] == ' ' && sign_line_imageR[i+2] == ' '){
            black_R_left = i;
            break;
        }
    } 
    
    for(int i = 118; i >= 10; i--){
        if(sign_line_imageR[i] == 'O' && sign_line_imageR[i-1] == ' ' && sign_line_imageR[i-2] == ' '){
            black_L_right = i;
            break;
        }
    }
    
    return (black_R_left + black_L_right) / 2;
}
 
int BX_camera::black_centerR(void)
{
 
    int l_care=10;
    int r_care=118;
    int b_start=0;
    int b_end=0;
    bool l_f1=false;
    bool l_f2=false;
    bool find=false;
    int b_thr_up=32;
    int b_thr_dn=5;
    int b_w=0;
    
     for(int i=r_care;i>l_care;i--){
         
         
          if(l_f1==false&&sign_line_imageR[i]==' '){
               
              b_start=i;
              l_f1=true;
          }
          if(l_f1==true && sign_line_imageR[i]=='O'){
              b_end=i-1;
              l_f2=true;   
           }
         
           if(l_f1==true && l_f2== true){
               b_w=b_start-b_end;
               if( b_thr_up>b_w&&b_w> b_thr_dn){
                   
                   find=true;     
                   break;
                }
                else{
                   l_f1=false;
                   l_f2=false;
                   
                } 
                
                   
            }
               
               
    }
         
         
         
     
 
  if(find)
     return (b_start+b_end)/2;
  else
     return -1;  
}   
 
 
 
 
 
void BX_camera::read(void)
{
 
    w_f_vL=0x0000;
    b_f_vL=0xffff;
 
    w_f_vR=0x0000;
    b_f_vR=0xffff;
 
 
 
 
    *si=1;
    *cam_clk=1;
 
    wait_us(30);   // tune here
    *si=0;
    *cam_clk=0;
 
 
 
    line_CamR->enable();
    line_CamL->enable();
 
 
    //input 128 //both
 
    for(int i=0; i<128; i++) {
        *cam_clk=1;
        wait_us(5);
 
 
        line_imageR[i]=line_CamR->read_u16();
        line_imageL[i]=line_CamL->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];
 
 
        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_CamR->enable();
    line_CamL->enable();
 
 
    //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';
        }
 
 
    }
 
 
 
}