Changeset 499

Timestamp:

02/28/07 14:37:23 (2 years ago)

Author:

anthony_rowe

Message:

CMUcam2 demo mode control law update

Files:

• trunk/projects/cmucam2/cmucam2.c (modified) (8 diffs)

trunk/projects/cmucam2/cmucam2.c

@@ -15 +15 @@
-
-// Uncomment line below to reverse servo direction for auto-servo and demo mode 
-
+
+
-
-//#define SERIAL_BAUD_RATE  CC3_UART_RATE_230400
@@ -296 +297 @@
-  servo_settings.x = SERVO_MID;
-  servo_settings.y = SERVO_MID;
-16
-8
-1
-0
-15
-1
+32
+20
+2
+2
+20
+2
-
-
@@ -322 +323 @@
-
-  if (demo_mode) {
+        cc3_led_set_state (0, true);
+        cc3_timer_wait_ms (5000);
+        cc3_camera_set_auto_exposure (false);
+        cc3_camera_set_auto_white_balance (false);
-    // Wait for second button press as target lock
-    while (1) {
@@ -329 +334 @@
-      cc3_timer_wait_ms (100);
-      if (cc3_button_get_state () == 1)
-
-
-
-
-
+
-    }
-
@@ -1238 +1239 @@
-  cc3_image_t img;
-  uint16_t x_mid, y_mid;
+  int8_t t_step;
-
-  bool prev_packet_empty = true;
@@ -1325 +1327 @@
-      if (t_pkt->int_density > 5 && servo_settings != NULL) {
-        if (servo_settings->x_control) {
-          int8_t t_step;
-          t_step = 0;
-          if (t_pkt->centroid_x > x_mid + servo_settings->pan_range_far)
@@ -1338 +1339 @@
-
-
-
+_PAN
-          servo_settings->x -= t_step;
-#else
-          servo_settings->x += t_step;
-#endif
-
+
-          if (servo_settings->x > SERVO_MAX)
-            servo_settings->x = SERVO_MAX;
@@ -1352 +1353 @@
-        if (servo_settings->y_control) {
-          if (t_pkt->centroid_y > y_mid + servo_settings->tilt_range_far)
-servo_settings->y +
+t_step 
-          else if (t_pkt->centroid_y >
-                   y_mid + servo_settings->tilt_range_near)
-servo_settings->y +
+t_step 
-
-          if (t_pkt->centroid_y < y_mid - servo_settings->tilt_range_far)
-servo_settings->y -= servo_settings->tilt_step
+t_step = -(servo_settings->tilt_step)
-          else if (t_pkt->centroid_y <
-                   y_mid - servo_settings->tilt_range_near)
-
+
+
+
+
+
+
+
-
-          if (servo_settings->y > SERVO_MAX)