ben winstone
/
ucam
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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 |
--- 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()
--- 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);