Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Sensors/Camera/Camera.cpp
- Committer:
- shimniok
- Date:
- 2012-06-20
- Revision:
- 0:826c6171fc1b
File content as of revision 0:826c6171fc1b:
#include "mbed.h" #include "Camera.h" Camera::Camera(PinName tx, PinName rx): serial(tx, rx) { serial.baud(115200); return; } void Camera::start() { serial.attach(this, &Camera::receive, Serial::RxIrq); // ping // should now get ACK\r or NACK\r // send colormap here // should now get ACK\r or NACK\r // disable white balance // should now get ACK\r or NACK\r serial.printf("ET\r\n"); // should now get ACK\r or NACK\r return; } void Camera::receive() { while (serial.readable()) { char c = serial.getc(); fprintf(stdout, "%c\n", c); } return; } /* * (Byte 0: 0x0A – Indicating the start of a tracking packet * Byte 1: Number of trac k ed objects (0x00 – 0x08 are valid) * Byte 2: Color of object tracked in bounding box 1 * Byte 3: X upper left corner of bounding box 1 * Byte 4: Y upper left corner of bouding box 1 * Byte 5: X lower right corner of boudning box 1 * Byte 6: Y lower right corner of boudning box 1 * Byte 7: Color object tracked in bound box 2 * ... * Byte x: 0xFF (indicates the end of line, and will be sent after all tracking info * for the current frame has been sent) */ void Camera::parse(char c) { return; }