For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Diff: ShapeDetect.cpp
- Revision:
- 12:284be46593ae
- Parent:
- 11:8d2455e383ce
- Child:
- 13:529323807361
diff -r 8d2455e383ce -r 284be46593ae ShapeDetect.cpp --- a/ShapeDetect.cpp Tue Apr 01 02:00:01 2014 +0000 +++ b/ShapeDetect.cpp Wed Apr 02 00:30:30 2014 +0000 @@ -248,7 +248,7 @@ ************************************************/ void clearBounds(void){ //top 20 pixels - for(int i=0; i<10; i++){ + for(int i=0; i<5; i++){ for(int j=0; j<160; j++){ image[i][j] = 0; @@ -256,20 +256,20 @@ }// i //bottom 20 pixels - for(int i=109; i<120; i++){ + for(int i=114; i<120; i++){ for(int j=0; j<160; j++){ image[i][j] = 0; }// j }// i //left 20 pixels for(int i=0; i<120; i++){ - for(int j=0; j<10; j++){ + for(int j=0; j<20; j++){ image[i][j] = 0; }// j }// i //right 20 pixels for(int i=0; i<120; i++){ - for(int j=149; j<160; j++){ + for(int j=139; j<160; j++){ image[i][j] = 0; }// j }// i @@ -296,6 +296,7 @@ } } + int getDistance(void){ lrf.putc('B'); //Take Binary range reading // read in the four bytes for the range in mm (MSB first)