ben winstone / Mbed 2 deprecated ucam

As of Monday morning, so this is the code we showed at Uncraftivism.

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 1:5d20e168f467, committed 2009-12-14

Comitter:
voidnoise
Date:
Mon Dec 14 08:25:07 2009 +0000
Parent:
0:da6a22da11a2
Commit message:

Changed in this revision

Blinker.cpp Show annotated file Show diff for this revision Revisions of this file
MotionFinder.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r da6a22da11a2 -r 5d20e168f467 Blinker.cpp
--- a/Blinker.cpp	Fri Dec 11 21:59:44 2009 +0000
+++ b/Blinker.cpp	Mon Dec 14 08:25:07 2009 +0000
@@ -49,7 +49,7 @@
 float  Blinker::openPosForSleepiness()
 {
     // for sleepiness 0->1, return EYE_OPEN ->( )/2
-    return  EYE_OPEN +  ( (EYE_CLOSED-EYE_OPEN) * 0.5 * m_sleepiness);
+    return  EYE_OPEN +  ( (EYE_CLOSED-EYE_OPEN) * 0.8 * m_sleepiness);
 }
 
 void Blinker::close()

diff -r da6a22da11a2 -r 5d20e168f467 MotionFinder.cpp
--- a/MotionFinder.cpp	Fri Dec 11 21:59:44 2009 +0000
+++ b/MotionFinder.cpp	Mon Dec 14 08:25:07 2009 +0000
@@ -154,20 +154,35 @@
     if( percentage < 3 ) // no real target, no COG
     {
         pcSerial.printf("No COG\r\n");
+
+       m_xServoMinder->setSpeed( 0.02 );
+       m_yServoMinder->setSpeed( 0.02 );
+       
         blinker->setBoredom( 1 );
         
+        m_attentionX = m_attentionX + (((0.5 - m_attentionX))/20);
+        m_attentionY = m_attentionY + (((0.7 - m_attentionY))/20);
        // could implement some looking-around in this state
+       
+
 
     }
     else if( sumN > 0 )
     {
+         m_xServoMinder->setSpeed( 0.25 );
+         m_yServoMinder->setSpeed( 0.25 );
+         
         cogX = sumX / sumN;
         cogY = sumY / sumN;
 
         m_attentionX = ((float)cogX  / frame->m_width);
         m_attentionY = ((float)cogY  / frame->m_width); // use the larger dimension so x & y get the same scaling
 
-        blinker->setBoredom( 0 );
+        //blinker->setBoredom( 0 );
+        float boredom = (2*percentage)/100.0;
+        if(boredom > 1) boredom = 1;
+        blinker->setBoredom( boredom );
+
 
         pcSerial.printf("COG is %d, %d\r\n", (int) cogX, (int) cogY);