File content as of revision 23:d6d4e8adf7fe:

#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)//64~0 right eye
{   
    int black_R_left = 0;
    for(int i = 120; i >=8; i--){
        if(sign_line_imageR[i] == 'O' && sign_line_imageR[i-1] == ' ' && sign_line_imageR[i-2] == ' '){
            return i;
        }
    } 
    return black_R_left;
}
int BX_camera::black_centerL(void)
{
     int black_L_right = 128;
     for(int i = 8; i <121 ; i++){
        if(sign_line_imageL[i] == 'O' && sign_line_imageL[i+1] == ' ' && sign_line_imageL[i+2] == ' '){
            return i;
        }
    }
    return black_L_right;
}
//turn right    122~64(120)      0
//turn left     128       64~6(8)     
//straight      122~64    64~6     186~70 
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';
        }
 
 
    }
 
 
 
}