Diff: main.cpp

Revision:

8:7758b1db4d5b

Parent:

7:41b5307e4c03

Child:

9:72e899c35484

--- a/main.cpp	Fri Dec 06 19:06:50 2013 +0000
+++ b/main.cpp	Fri Dec 06 20:40:17 2013 +0000
@@ -5,10 +5,10 @@
 #include "TextLCD.h"
 
 // Macros/Constants
-#define MAX_VIEW_X 640 // maximum X value input from camera
-#define MAX_VIEW_Y 480 // maximum Y value input from camera
-//#define MAX_VIEW_X 1600 //maximum X value input from camera
-//#define MAX_VIEW_Y 1200 // maximum Y value input from camera
+//#define MAX_VIEW_X 640 // maximum X value input from camera
+//#define MAX_VIEW_Y 480 // maximum Y value input from camera
+#define MAX_VIEW_X 1600 //maximum X value input from camera
+#define MAX_VIEW_Y 1200 // maximum Y value input from camera
 #define CENTER_BOX_TOLLERANCE 100 // Size of our box
 #define TO_SERVO_DIVISOR 4000.0 // Value to divide by to get the amount to move the servo by
 #define NO_COLOR_MAX_COUNT 10
@@ -17,10 +17,13 @@
 #define SERVO_HOME .5
 #define SERVO_HOME_TOL .2
 #define SPEED_CONST 65535 // Used with the blob area to determine how fast the robot should move toward the target
+#define GREEN 0
+#define RED 1
 
 // Hardware sensors and devices
 DigitalOut myled(LED1);
 DigitalOut myled2(LED2);
+DigitalIn colorPB(p30);
 DigitalOut greenLED(p29);
 DigitalOut redLED(p28);
 iRobot followMeBot(p9, p10);
@@ -31,7 +34,6 @@
 //AnalogIn irSensorRight(p18);
 Serial pc(USBTX, USBRX); // tx, rx
 TextLCD lcd(p14, p16, p17, p18, p19, p20); // rs, e, d4-d7
-InterruptIn colorPB(p30);
 
 //float irVal = irSensorFront;
 
@@ -44,32 +46,25 @@
                     (MAX_VIEW_X/2)+CENTER_BOX_TOLLERANCE,(MAX_VIEW_Y/2)+CENTER_BOX_TOLLERANCE); // Creates a box to examine if the camera is well enough centered
 int noColorCounter; // Counts how long it has been since we have seen a color to follow
 bool colorLost = true; // boolean to represent if the color is confirmed "lost" (aka noColorCounter > NO_COLOR_MAX_COUNT)
-#define GREEN 0
-#define RED 1
-int color = GREEN; // Current color selected by the pushbutton
-int colorPast;
 
 // Function Prototypes
 void getXYpos();
 float moveCamera();
 void moveBot();
 int servoIsInHome();
-void colorSelect();
+void changeColor();
+char color = 0;
+int PBPast;
 
 int main()
 {
     followMeBot.start();
     servoHor = .5;
-    colorPast = color;
-    greenLED = 1;
-    colorPB.fall(&colorSelect);
+
     while(1) {
         getXYpos();
         moveBot();
-        if(colorPast != color) {
-            pc.printf("%d\n",color);
-            colorPast = color;
-        }
+        changeColor();
     }
 }
 
@@ -82,7 +77,7 @@
 {
     /*lcd.cls();
     lcd.locate(0,0);
-    lcd.printf("%d;%d;%f", xpos, ypos, servoHor.read());*/
+  lcd.printf("%d;%d;%f", xpos, ypos, servoHor.read());*/
     float temp = 0;
     if(xpos == 0) { // If we recieve a 0 for the location
         if(!colorLost && (++noColorCounter > NO_COLOR_MAX_COUNT)) { // Check to see if we have seen enough to consider the color lost
@@ -133,16 +128,16 @@
         myled = 0;
     }
 
-    /*  float irVal = irSensorFront;
-      lcd.locate(0,0);
-      lcd.printf("irVal: %f", irVal);
-      lcd.locate(0,1);
-      lcd.printf("blob: %d", blobArea);*/
+  /*  float irVal = irSensorFront;
+    lcd.locate(0,0);
+    lcd.printf("irVal: %f", irVal);
+    lcd.locate(0,1);
+    lcd.printf("blob: %d", blobArea);*/
 }
 
 void moveBot()
 {
-    // irVal = irSensorFront;                aaaaaaaaaaa
+   // irVal = irSensorFront;                aaaaaaaaaaa
 
     //
     // colorLost = false;
@@ -166,21 +161,22 @@
             followMeBot.left();
 
         } else if(servoIsInHome() == 0) {//n
-
+        
             //if (irVal < COLLISION_DIST) {
             if (blobArea < 180000) {              //just testing          aaaaaa
                 //lcd.cls();
                 //lcd.printf("forward: %f", irVal);
                 followMeBot.forward();
-            } else {
+            }
+            else {
                 followMeBot.stop();
                 lcd.cls();
                 lcd.locate(0,0);
                 lcd.printf("blobArea: %d ", blobArea);
                 //wait(1);
-                // lcd.printf("stop: %f ", irVal);
-            }
-
+               // lcd.printf("stop: %f ", irVal);
+            } 
+            
             /*
             //followMeBot.changeSpeed(SPEED_CONST/(blobArea/100));
             followMeBot.stop();
@@ -189,8 +185,8 @@
     } else {
         lcd.printf("Color Lost");
         followMeBot.left();
-        //  followMeBot.stop();//n
-        // followMeBot.right();
+      //  followMeBot.stop();//n
+       // followMeBot.right();
     }
 
 }
@@ -206,14 +202,18 @@
     }
 }
 
-void colorSelect()
-{
-    color = !color;
-    if(color == GREEN) {
-        greenLED = 1;
-        redLED = 0;
-    } else {
-        greenLED = 0;
-        redLED = 1;
+void changeColor(){
+    int PBval = colorPB;
+    if(PBval != PBPast && PBval == 1){
+        color = !color;
+        if(color == GREEN){
+            greenLED = 1;
+            redLED = 0;
+        }
+        else{
+            greenLED = 0;
+            redLED = 1;        
+        }
     }
+    PBPast = PBval;
 }