Thomas Ashworth / theRobot

For IEEE Robotics

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

Diff: ShapeDetect.cpp

Revision:
16:8bb212df81b7
Parent:
15:78f5e937f6ab
Child:
17:a5bb85ee205d
--- a/ShapeDetect.cpp	Wed Apr 02 04:04:28 2014 +0000
+++ b/ShapeDetect.cpp	Wed Apr 02 23:54:05 2014 +0000
@@ -285,10 +285,13 @@
     pc.printf("Center of Mass is at X: %d    Y: %d\n\r", xcoord_val, ycoord_val, s_area_val);
     pc.printf("The area of the Mass is: %d\n\r", s_area_val);
     
-    if( (s_area_val > (SQUARE_AREA - AREA_TOLERANCE)) && (s_area_val < (SQUARE_AREA + AREA_TOLERANCE)) ) {
+    //if( (s_area_val > (SQUARE_AREA - AREA_TOLERANCE)) && (s_area_val < (SQUARE_AREA + AREA_TOLERANCE)) ) {
+    if( (s_area_val > 3500) ) {
         pc.printf("\nSQUARE DETECTECD\n\r");
         return 1;
-    } else if ((s_area_val > (TRIANGLE_AREA - AREA_TOLERANCE)) && (s_area_val < (TRIANGLE_AREA + AREA_TOLERANCE)) ) {
+    } 
+    //else if ((s_area_val > (TRIANGLE_AREA - AREA_TOLERANCE)) && (s_area_val < (TRIANGLE_AREA + AREA_TOLERANCE)) ) {
+        else if (s_area_val < 2600) {
         pc.printf("\nTRIANGLE DETECTECD\n\r");
         return 2;
     } else {