Diff: camera_api.cpp

Revision:

21:5f7efc1ca8ad

Parent:

20:4ed21397e775

Child:

22:1464a3f0a290

diff -r 4ed21397e775 -r 5f7efc1ca8ad camera_api.cpp
--- a/camera_api.cpp	Sun Jun 29 16:20:22 2014 +0000
+++ b/camera_api.cpp	Mon Jun 30 08:19:43 2014 +0000
@@ -12,6 +12,26 @@
     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)
 {