Diff: main.cpp

Revision:

6:2ce8f719d84d

Parent:

5:7f85cf99d0f6

--- a/main.cpp	Tue May 08 11:20:33 2012 +0000
+++ b/main.cpp	Thu Oct 11 14:11:34 2012 +0000
@@ -15,31 +15,24 @@
 
 #include "mbed.h"
 #include "CameraC1098.h"
-#include "SDFileSystem.h"
+#include "TextLCD.h"
 
 /*
  * Definitions.
  */
-#define USE_SD_CARD 1
+TextLCD lcd(p24, p26, p27, p28, p29, p30);
+CameraC1098 camera(p9, p10);
 
 /*
  * Variables.
  */
-static const int CAPTURE_FRAMES = 3;
-static char buf[1024+1];
-static FILE *fp_jpeg;
+PwmOut steering(p25) ;
+PwmOut speed_in1(p22) ;
+PwmOut speed_in2(p23) ;
+Serial pc(p13,p14);
 
-/*
- * Modules.
- */
-#if USE_SD_CARD
-SDFileSystem sd(p5, p6, p7, p8, "fs");
-#else
-LocalFileSystem fs("fs");
-#endif
-
-CameraC1098 camera(p9, p10);
- 
+static char buf[256+1];
+volatile char steer;
 
 /**
  * A callback function for jpeg images.
@@ -50,7 +43,7 @@
  */
 void jpeg_callback(char *buf, size_t siz) {
     for (int i = 0; i < (int)siz; i++) {
-        fprintf(fp_jpeg, "%c", buf[i]);
+        pc.putc(buf[i]) ;
     }
 }
 
@@ -61,10 +54,13 @@
     CameraC1098::ErrorNumber err = CameraC1098::NoError;
 
     err = camera.sync();
+    lcd.locate(0,0);
     if (CameraC1098::NoError == err) {
         printf("[ OK ] : CameraC1098::sync\r\n");
+        lcd.printf("Camera Sync [OK]");
     } else {
         printf("[FAIL] : CameraC1098::sync (Error=%02X)\r\n", (int)err);
+        lcd.printf("Camera init [NG]");
     }
 }
 
@@ -74,41 +70,121 @@
  */
 void test_jpeg_snapshot_picture(void) {
     CameraC1098::ErrorNumber err = CameraC1098::NoError; 
-    for (int i = 0; i < CAPTURE_FRAMES; i++) {
-        char fname[64];
-        snprintf(fname, sizeof(fname), "/fs/jpss%04d.jpg", i);
-        fp_jpeg = fopen(fname, "w");
+    
+    err = camera.getJpegSnapshotPicture(jpeg_callback);
 
-        err = camera.getJpegSnapshotPicture(jpeg_callback);
-        
-        if (CameraC1098::NoError == err) {
-            printf("[ OK ] : CameraC1098::getJpegSnapshotPicture\r\n");
-        } else {
-            printf("[FAIL] : CameraC1098::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
-        }
-        fclose(fp_jpeg);
+    lcd.locate(0,0);        
+    if (CameraC1098::NoError == err) {
+        printf("[ OK ] : CameraC1098::getJpegSnapshotPicture\r\n");
+        lcd.printf("Camera send [OK]");
+    } else {
+        printf("[FAIL] : CameraC1098::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
+        lcd.printf("Camera send [NG]");
     }
 }
 
-/**
- * A entry point.
- */
+void  rxFunc(){
+    steer = pc.getc();
+}
+
 int main() {
+    float sp1, sp2;
+    int st;
+    
+    wait(2.0) ;
+    pc.attach(&rxFunc,Serial::RxIrq);
+    
     printf("\r\n");
     printf("==========\r\n"); 
     printf("CameraC1098\r\n");
     printf("==========\r\n");
     CameraC1098::ErrorNumber err = CameraC1098::NoError;
-    err = camera.init(CameraC1098::Baud28800, CameraC1098::JpegResolution80x64);
-  
+    err = camera.init(CameraC1098::Baud115200, CameraC1098::JpegResolution160x128);
+    camera.setmbedBaud( CameraC1098::Baud115200 );
+    pc.baud(115200);
+    
+    
+    lcd.locate(0,0);
     if (CameraC1098::NoError == err) {
         printf("[ OK ] : CameraC1098::init\r\n") ;
+        lcd.printf("Camera init [OK]");
     } else {
         printf("[FAIL] : CameraC1098::init (Error=%02X)\r\n", (int)err) ;
+        lcd.printf("Camera init[NG]");
+        exit(-1);
     }
     // 
-    sync();
-    test_jpeg_snapshot_picture();
+    sync(); 
+    
+    steering.period(0.020);
+    speed_in1.period(0.1) ;
+    speed_in2.period(0.1) ;
+    
+    while(1){
     
-    return 0;
+        lcd.locate(0,1);
+        switch(steer){
+            case 'S':
+                lcd.printf("pictshort       ");
+                test_jpeg_snapshot_picture();
+                break;                    
+            case '0':
+                lcd.printf("                ");
+                st = 1500;
+                sp1 = 0.0f ;
+                sp2 = 0.0f ; 
+                break;
+            case '1':
+                lcd.printf("FORWARD         ");   
+                st = 1500;
+                sp1 = 0.7f ;
+                sp2 = 0.0f ; 
+                break;
+            case '2':
+                lcd.printf("BACK            ");
+                st = 1500;
+                sp1 = 0.0f ;
+                sp2 = 0.7f ;
+                break;   
+            case '6':
+                lcd.printf("FORWARD+LEFT    ");
+                st = 1200;
+                sp1 = 0.7f ;
+                sp2 = 0.0f ;
+                break;   
+            case '7':
+                lcd.printf("FORWARD+RIGHT   ");
+                st = 1800;
+                sp1 = 0.7f ;
+                sp2 = 0.0f ;
+                break;   
+            case 'A':
+                lcd.printf("BACK+LEFT       ");
+                st = 1200;
+                sp1 = 0.0f ;
+                sp2 = 0.7f ;
+                break;   
+            case 'B':
+                lcd.printf("BACK+RIGHT      ");
+                st = 1800;
+                sp1 = 0.0f ;
+                sp2 = 0.7f ;
+                break;                                                                   
+            case 'F':
+                lcd.printf("STOP            ");  
+                st = 1500;
+                sp1 = 0.0 ;
+                sp2 = 0.0 ;
+            break;
+            default:
+                lcd.printf("                ");
+                st = 1500;
+                sp1 = 0.0 ;
+                sp2 = 0.0 ;
+        }   
+        steering.pulsewidth_us(st);
+        speed_in1.write(sp1) ;
+        speed_in2.write(sp2) ;   
+    }
+                
 }