Changeset 435

Timestamp:

02/18/07 17:14:47 (2 years ago)

Author:

anthony_rowe

Message:

Set Track

Files:

• trunk/projects/cmucam2/cmucam2.c (modified) (4 diffs)

trunk/projects/cmucam2/cmucam2.c

@@ -65 +65 @@
-  SERVO_OUTPUT,
-  GET_SERVO,
+  SET_TRACK,
-  CMUCAM2_CMD_END               // Must be last entry so array sizes are correct
-} cmucam2_command_t;
@@ -139 +140 @@
-  cmucam2_cmds[LINE_MODE] = "LM";
-  cmucam2_cmds[GET_TRACK] = "GT";
+  cmucam2_cmds[SET_TRACK] = "ST";
-  //  ST set tracking parameters
-
@@ -255 +257 @@
-  servo_settings.pan_range_far=16;
-  servo_settings.pan_range_near=8;
-5
+10
-  servo_settings.tilt_range_far=30;
-  servo_settings.tilt_range_near=15;
-5
+10
-
-
@@ -535 +537 @@
-        break;
-
+     case SET_TRACK:
+        if (n != 0 && n != 6) {
+          error = true;
+          break;
+        }
+        print_ACK ();
+        if (n == 6) {
+          t_pkt.lower_bound.channel[0] = arg_list[0];
+          t_pkt.upper_bound.channel[0] = arg_list[1];
+          t_pkt.lower_bound.channel[1] = arg_list[2];
+          t_pkt.upper_bound.channel[1] = arg_list[3];
+          t_pkt.lower_bound.channel[2] = arg_list[4];
+          t_pkt.upper_bound.channel[2] = arg_list[5];
+        }
+        break;
-
-      case TRACK_COLOR: