For IEEE Robotics

Dependencies:   Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos

Revision:
8:77a57909aa15
Parent:
6:75259c3306dd
Child:
11:8d2455e383ce
--- a/ShapeDetect.cpp	Wed Mar 19 17:08:25 2014 +0000
+++ b/ShapeDetect.cpp	Thu Mar 27 23:16:02 2014 +0000
@@ -208,6 +208,7 @@
 
 void centerMass(int *xcoord, int *ycoord, int *s_area){
     ImageToArray(BINARY);
+    printImageToFile(BINARY);
     clearBounds();
     int count = 0;
     int sumi = 0;
@@ -279,10 +280,10 @@
 int shapeDetection(void)
 {
 
-  /*  centerMass(&xcoord_val, &ycoord_val, &s_area_val);
+    centerMass(&xcoord_val, &ycoord_val, &s_area_val);
     pc.printf("\ncentriod calculated\n\r");
     pc.printf("\nCenter of Mass is at X: %d    Y: %d\n\r", xcoord_val, ycoord_val, s_area_val);
-    pc.printf("\nThe area of the Mass is: %d\n\r", s_area_val);*/
+    pc.printf("\nThe area of the Mass is: %d\n\r", s_area_val);
     if(s_area_val > SQUARE_AREA_TRESHOLD) {
         pc.printf("\nSQUARE DETECTECD\n\r");
         return 1;