File content as of revision 0:0de05459de46:

#include "mbed.h"
#include "TFC.h"

int CameraAlgorithm_1(int *CameraArray);
int CameraAlgorithm_2(int *CameraArray);
int LineSensor[8] = {0};
int servoController(int *LineSensor);

Serial pc(USBTX, USBRX);
int main() {
    TFC_Init();
    int CameraArray[128]= {0};
    uint32_t i = 0;
   
    for(;;){
        int Switch_Position = TFC_GetDIP_Switch();
        float ReadPot0 = TFC_ReadPot(0);
        float ReadPot1 = TFC_ReadPot(1);
        int LineThreshold = (ReadPot0 * 1000);
        
        switch(Switch_Position)
        {
        default:
        case 0: //T- BATTERY VALUE/STANDBY DEFAULT
        TFC_HBRIDGE_DISABLE;
        if(TFC_PUSH_BUTTON_1_PRESSED){
            float BatteryLevel = TFC_ReadBatteryVoltage();
            pc.printf("Battery = %1.2f\r\n",BatteryLevel);
            if(BatteryLevel > 1.4){
                TFC_SetBatteryLED_Level(4);
                }
            else if(BatteryLevel > 1.1){
                TFC_SetBatteryLED_Level(3);
                }
            else if(BatteryLevel > 0.8){
                TFC_SetBatteryLED_Level(2);
                }
            else{
                TFC_SetBatteryLED_Level(1);
                }
            wait(1);
            TFC_SetBatteryLED_Level(0);         
        }
        pc.printf("Standby Mode\r\n");
        break;
        
        case 1: //DC MOTORS ON POTS
        TFC_HBRIDGE_ENABLE; 
        TFC_SetMotorPWM(ReadPot1,ReadPot1);       
        break;
        
        case 2: //T- CAMERA 1/0
        if (TFC_LineScanImageReady > 0){
            TFC_LineScanImageReady = 0;
            pc.printf("Threshold = %d.\r\n", LineThreshold);
            pc.printf("Camera Array: ");
                for(i = 0; i < 128; i++)
                {
                    if ((int)TFC_LineScanImage0[i] < LineThreshold) {
                        CameraArray[i] = 1;
                    }
                    else {
                        CameraArray[i] = 0;
                    }
                    pc.printf("%d, ",CameraArray[i]);
                }
            pc.printf("\r\n");
            wait(1);
        }       
        break;      
        
        case 3: //T- CAMERA 16x8
        if (TFC_LineScanImageReady > 0){
            TFC_LineScanImageReady = 0;
            pc.printf("Threshold = %d.\r\n", LineThreshold);
            pc.printf("Camera Array: ");
                for(i = 0; i < 128; i++)
                {
                    if ((int)TFC_LineScanImage0[i] < LineThreshold) {
                        CameraArray[i] = 1;
                    }
                    else {
                        CameraArray[i] = 0;
                    }
                }
        CameraAlgorithm_1(CameraArray);  
        wait(0.5);
        }       
        break;      
        
        case 4: //T- CAMERA 8x1 1/0
        if (TFC_LineScanImageReady > 0){
            TFC_LineScanImageReady = 0;
            pc.printf("Threshold = %d.\r\n", LineThreshold);
            pc.printf("Camera Array: ");
                for(i = 0; i < 128; i++)
                {
                    if ((int)TFC_LineScanImage0[i] < LineThreshold) {
                        CameraArray[i] = 1;
                    }
                    else {
                        CameraArray[i] = 0;
                    }
                }
        CameraAlgorithm_2(CameraArray);  
        wait(0.5);
        }           
        break;
        
        case 5: //SERVO ON POTS
        TFC_SetServo(0,ReadPot1);       
        break;

        case 6: //SERVO MOVEMENT 1 LINE CAMERA
        if (TFC_LineScanImageReady > 0){
            TFC_LineScanImageReady = 0;
            pc.printf("Threshold = %d.\r\n", LineThreshold);
            pc.printf("Camera Array: ");
                for(i = 0; i < 128; i++)
                {
                    if ((int)TFC_LineScanImage0[i] < LineThreshold) {
                        CameraArray[i] = 1;
                    }
                    else {
                        CameraArray[i] = 0;
                    }
                }
        CameraAlgorithm_2(CameraArray);
        servoController(LineSensor);        
        }       
        break;
        }   
    }
}

int CameraAlgorithm_1(int *CameraArray) {  
    int Camera_Matrix[8][16]; //8 rows, 16 column array. Camera broken into segments.
    uint32_t i, j, k=0;
        for(i = 0; i < 8; i++) //Loop for 8 rows
        {
            for(j=0 ;j<16; j++) //Loop for 16 columns
            {
            Camera_Matrix[i][j] = CameraArray[k]; //Stores CameraArray into specific row/column of Camera_Matrix
            k++; //increments k(CameraArray), only reset upon leaving the initial for loop
            }
        }
    //Sum the binary digits, base 2, in each segment
        for(i = 0; i < 8; i++) //select row
        {
        int sum = 0; //sum reset upon changing row
            for(j=0 ;j<16; j++) //iterate through 16 columns
            {
            sum = sum + pow(2.0,15.0-j)*Camera_Matrix[i][j]; // sums the base 2 power, so that 0001 doesnt = 0100, allows line positioning per segment
            }
        LineSensor[i] = sum; //stores the binary sum in locations 0-7 in LineSensor
        pc.printf("%d, ",LineSensor[i]);
        }
    pc.printf("\r\n");
    return *LineSensor; //returns LineSensor values to main function
}

int CameraAlgorithm_2(int *CameraArray) {  
    int Camera_Matrix[8][16]; //8 rows, 16 column array. Camera broken into segments.
    uint32_t i, j, k=0;
        for(i = 0; i < 8; i++) //Loop for 8 rows
        {
            for(j=0 ;j<16; j++) //Loop for 16 columns
            {
            Camera_Matrix[i][j] = CameraArray[k]; //Stores CameraArray into specific row/column of Camera_Matrix
            k++; //increments k(CameraArray), only reset upon leaving the initial for loop
            }
        }
    //Sum the binary digits, base 2, in each segment
        for(i = 0; i < 8; i++) //select row
        {
        int sum = 0; //sum reset upon changing row
            for(j=0 ;j<16; j++) //iterate through 16 columns
            {
            sum = sum + pow(2.0,15.0-j)*Camera_Matrix[i][j]; // sums the base 2 power, so that 0001 doesnt = 0100, allows line positioning per segment
            }
        LineSensor[i] = sum; //stores the binary sum in locations 0-7 in LineSensor
        
        if (LineSensor[i] > 500){
            LineSensor[i] = 1;
            }
            else {
            LineSensor[i] = 0;
            }
        
        pc.printf("%d, ",LineSensor[i]);       
        }
    pc.printf("\r\n");
    return *LineSensor; //returns LineSensor values to main function
}

int servoController(int *LineSensor) {
    if (LineSensor[0] == 1){
        TFC_SetServo(0, -1);
    }
    else if (LineSensor[7] == 1){
        TFC_SetServo(0, 0.5);
    }
    else {
        TFC_SetServo(0, 0);   
    }
    return *LineSensor;       
}