Revision 1:70d90598d2e7, committed 2009-12-10

Comitter:

jarkman

Date:

Thu Dec 10 21:16:57 2009 +0000

Parent:

0:57f4fdadc97f

Child:

2:01115080f6da

Commit message:

Changed in this revision

--- a/MotionFinder.cpp	Fri Nov 20 14:40:48 2009 +0000
+++ b/MotionFinder.cpp	Thu Dec 10 21:16:57 2009 +0000
@@ -27,6 +27,9 @@
     m_xServoMinder = xServoMinder;
     m_yServoMinder = yServoMinder;
     
+   
+    
+
     m_xServoMinder->moveTo( 1.0 );
     wait( 1 );
     m_xServoMinder->moveTo( 0.0 );
@@ -34,6 +37,7 @@
     m_xServoMinder->moveTo( 0.5 );
     wait( 1 );
 
+    
     m_yServoMinder->moveTo( 1.0 );
     wait( 1 );
     m_yServoMinder->moveTo( 0.0 );
@@ -65,7 +69,7 @@
     if( frame == NULL || frame->m_bad )
     {
         if( m_resultFrame != NULL )
-			m_resultFrame->m_bad = false;
+            m_resultFrame->m_bad = false;
         return;
     }
 
@@ -164,7 +168,7 @@
     }
 
     m_xServoMinder->moveTo( 1 - m_attentionX );
-    m_yServoMinder->moveTo( 1 - m_attentionY ); 
+    m_yServoMinder->moveTo(  m_attentionY ); 
 
 
     Frame::releaseFrame( &frame );

--- a/ServoMinder.cpp	Fri Nov 20 14:40:48 2009 +0000
+++ b/ServoMinder.cpp	Thu Dec 10 21:16:57 2009 +0000
@@ -19,9 +19,19 @@
     m_ticker.attach( this, &ServoMinder::tick, m_tickTime );
 }
 
+void ServoMinder::moveToAndWait( float target )
+{
+    moveTo( target );
+    
+    while( fabs( m_servo->read() - m_target) > m_delta )
+       wait( 0.001 ) ;
+ }
+        
 void ServoMinder::moveTo( float target )
 {
+
     m_target = target;
+
     
     
 }

--- a/ServoMinder.h	Fri Nov 20 14:40:48 2009 +0000
+++ b/ServoMinder.h	Thu Dec 10 21:16:57 2009 +0000
@@ -4,21 +4,23 @@
 class ServoMinder
 {
 public:
-	ServoMinder( Servo *servo );
+    ServoMinder( Servo *servo );
 
-	void moveTo( float target );
-
+    void moveTo( float target );
+    void moveToAndWait( float target );
+     void setSpeed( float speed );
+     
 private:
-	void setSpeed( float speed );
+   
 
-	Servo *m_servo;
-	float m_target;
-	float m_speed;
+    Servo *m_servo;
+    float m_target;
+    float m_speed;
 
-	float m_delta;
-	float m_tickTime;
-	Ticker m_ticker;
+    float m_delta;
+    float m_tickTime;
+    Ticker m_ticker;
 
-	void tick();
+    void tick();
 
 };
\ No newline at end of file

--- a/ucam.cpp	Fri Nov 20 14:40:48 2009 +0000
+++ b/ucam.cpp	Thu Dec 10 21:16:57 2009 +0000
@@ -31,19 +31,42 @@
 
 Servo xServo (p21);
 Servo yServo (p22);
+Servo eyelidServo (p23); 
+#define EYE_CLOSED 0.15
+#define EYE_OPEN 0.8 
 
 MotionFinder *motionFinder = NULL;
 
 
+void testEyelid()
+{
+ ServoMinder *eyelidMinder = new ServoMinder( &eyelidServo );
 
+    eyelidMinder->setSpeed( 1 );
+      eyelidMinder->moveToAndWait( EYE_CLOSED );
+  
+      eyelidMinder->setSpeed( 0.1 );
+      eyelidMinder->moveToAndWait( EYE_OPEN );
+      eyelidMinder->setSpeed( 2 );
+      eyelidMinder->moveToAndWait( EYE_CLOSED );
+      eyelidMinder->moveToAndWait( EYE_OPEN );
+}
+      
 void UCamInit() {
    
+    
+      
     ucam.doStartup();
     Frame::initFrames();
+    
+     
+    testEyelid();
+  
     motionFinder = new MotionFinder( new ServoMinder(&xServo), new ServoMinder(&yServo) );
     
 }
 
+
 void UCamGetJpeg()
 {
     ucam.doConfig( false, UCAM_COLOUR_JPEG, UCAM_JPEG_SIZE_640x480 ); 
@@ -58,6 +81,7 @@
 }
 
 Frame* UCamGetRaw( )
+
 {
     ucam.doConfig( true, UCAM_COLOUR_4_BIT_GREY, UCAM_RAW_SIZE_80x60);