Diff: main.cpp

Revision:

0:13c861a5ed0f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 03 19:12:28 2011 +0000
@@ -0,0 +1,165 @@
+#include "mbed.h"
+#include "Camera_LS_Y201.h"
+#include "Servo.h"
+#include "EthernetNetIf.h"
+#include "HttpServer.h"
+
+Servo servo1(p21);
+Servo servo2(p22);
+DigitalOut myled(LED1);
+DigitalOut myled4(LED4);
+Camera_LS_Y201 cam1(p13, p14);
+Serial device(p28, p27);  // tx, rx
+LocalFileSystem local("local");               // Create the local filesystem under the name "local"
+LocalFileSystem fs("webfs");
+
+EthernetNetIf eth;  
+HttpServer svr;
+
+FILE *fp = NULL;
+int datcnt = 0;
+float ServoVal1[5] = {0,.25,.5,.75,1};
+//float ServoVal2[5] = {0,.25,.5,.75,1};
+float ServoVal2[5] = {1,.9,.5,.1,0};
+
+/**
+ * Callback function for readJpegFileContent.
+ *
+ * @param buf A pointer to a buffer.
+ * @param siz A size of the buffer.
+ */
+void callback_func(int done, int total, uint8_t *buf, size_t siz) {
+    fwrite(buf, siz, 1, fp);
+
+    static int n = 0;
+    int tmp = done * 100 / total;
+    if (n != tmp) {
+        n = tmp;
+        // You can print the progress to LCD here.
+    }
+}
+
+int capture(int n) {
+    /*
+     * Take a picture.(L)
+     */
+    if (cam1.takePicture() != 0) {
+        return -1;
+    }
+   // lcd.locate(0, 1);
+    device.printf("Captured.\r\n");
+    
+    char fname[64];
+    
+    /*
+     * Open file.
+     * Read the content.
+     */
+    snprintf(fname, sizeof(fname) - 1, "/local/IMG_%04d.jpg", n);
+    fp = fopen(fname, "wb");
+    if (fp == NULL) {
+        return -2;
+    }
+    //lcd.locate(0, 0);
+    device.printf("Capture: %04d\r\n", n);
+    datcnt = 0;
+    if (cam1.readJpegFileContent(callback_func) != 0) {
+        fclose(fp);
+        return -3;
+    }
+    fclose(fp);
+
+    /*
+     * Stop taking pictures.
+     */
+    cam1.stopTakingPictures();
+
+    return 0;
+}
+
+
+int main() {
+    device.baud(115200);
+    device.printf("***********************************\r\n");
+    device.printf("**** ServoCamera mbed Project  ****\r\n");
+    device.printf("**** NXP mbed Design Challenge ****\r\n");
+    device.printf("***********************************\r\n");
+    wait(.25);
+
+    if (cam1.reset() == 0) {
+        device.printf("Camera Reset OK.\r\n ");
+    }
+    wait(.5);
+
+    //device.printf("setImageSize=%d\n", cam1.setImageSize(LS_Y201::ImageSize640x480));
+    //wait(1);
+    device.printf("******************************\r\n");    
+/*    device.printf("** MOVE SERVO               **\r\n");    
+    for(float p=0; p<1.0; p += 0.01) {
+        servo2 = p;
+        servo1 = p;
+        wait(0.15);
+    }
+*/
+    servo2 = 0.5;
+    servo1 = 0.5;
+    device.printf("** SERVOs CENTERED!           **\r\n");   
+    device.printf("******************************\r\n");
+     wait(2);
+     int cnt = 0;
+     int col = 0;
+     int row = 0;
+     servo2 = 0.5;
+     servo1 = 0.3;
+     wait(1);
+     for (int j = 0; j < 3; j++) {
+         col = j;
+         servo1 = (ServoVal1[col+1]-0.15);  // Move servo to new position
+         for (int i = 0; i < 3; i++) {      
+            row = i;
+            servo2 = ServoVal2[row+1];      // Move servo to new position
+            wait(1);
+            myled4 = 0;                     // turns LED ON
+            int r = capture(cnt);           // capture image
+            if (r == 0) {
+               device.printf("[%04d]:OK.\r\n", cnt);
+            } else {
+                device.printf("[%04d]:NG. (code=%d)\r\n", cnt, r);
+            }
+            cnt++;
+            myled4 = 1;                     // turns LED OFF
+          }     
+    }
+     servo2 = 0.5;
+     servo1 = 0.3;
+     //
+ Base::add_rpc_class<DigitalOut>();
+
+  device.printf("\r\nSetting up Ethernet...\r\n");
+  EthernetErr ethErr = eth.setup();
+  if(ethErr)
+  {
+   device.printf("Error %d in setup.\n", ethErr);
+    return -1;
+  }
+  device.printf("\r\nSetup OK\r\n");
+  
+  svr.addHandler<SimpleHandler>("/hello");
+  svr.addHandler<RpcHandler>("/rpc");
+  svr.addHandler<FSHandler>(""); //Default handler
+  //Example : Access to mbed.htm : http://a.b.c.d/webfs/mbed.htm
+  
+  svr.bind(80);
+  
+  device.printf("\r\nListening @port 80...\r\n");     
+     
+    //
+    while (1) {
+        Net::poll();
+        myled = 1;
+        wait(0.2);
+        myled = 0;
+        wait(0.2);
+     }
+   
+}