int main(void)
{
//VARIABLES
uint16_t x = 0, max_x = 0;
char speComm = 'O';
//INIT
initAll();
//START PROG
#ifdef PRINTF_MAIN
printf("BEGIN");
#endif
#ifdef PRINTF_MAIN
printf("\nAppuyer sur le boutton");
#endif
//initialisation du blanc
while(!cc3_button_get_state());//attente d'une pression du boutton
while(1)
{
#ifdef BENCH
uint16_t start_time, end_time;
start_time = cc3_timer_get_current_ms();
#endif
//IMG
if(imgAnalysis(&x, &max_x) == 0)
speComm = 'O';
else
speComm = 'R';
#ifdef PRINTF_ABS_FINAL
printf("\nmoyenneFinal: %d", x);
#endif
//Motor
motComm(x, max_x, speComm);
#ifdef BENCH
end_time = cc3_timer_get_current_ms();
printf ("\ntime:%d", end_time - start_time);
#endif
}
//END
#ifdef PRINTF_MAIN
printf ("\nEND");
#endif
return 0;
}
int main(void) {
int i;
cc3_uart_init (0,
CC3_UART_RATE_115200,
CC3_UART_MODE_8N1,
CC3_UART_BINMODE_TEXT);
cc3_camera_init ();
// ready camera
cc3_camera_set_auto_exposure (true);
cc3_camera_set_auto_white_balance (true);
cc3_camera_set_resolution(CC3_CAMERA_RESOLUTION_HIGH);
cc3_camera_set_colorspace(CC3_COLORSPACE_YCRCB);
//cc3_camera_set_colorspace(CC3_COLORSPACE_RGB);
cc3_timer_wait_ms(1000);
// init
cc3_led_set_state(0, false);
cc3_led_set_state(2, true);
i = 0;
while(true) {
printf("Ready to go... waiting the button\n");
while(!cc3_button_get_state());
printf("Go\n");
i++;
if (i%2==0) {
cc3_led_set_state (2, true);
} else {
cc3_led_set_state (2, false);
}
compute_frm(i);
}
return 0;
}
int main(void) {
int i;
int result;
FILE *f;
bool light_on = true;
cc3_uart_init (0,
CC3_UART_RATE_115200,
CC3_UART_MODE_8N1,
CC3_UART_BINMODE_TEXT);
cc3_camera_init ();
// use MMC
cc3_filesystem_init();
cc3_camera_set_resolution(CC3_CAMERA_RESOLUTION_HIGH);
cc3_timer_wait_ms(1000);
// init
cc3_led_set_state(0, false);
i = 0;
while(!cc3_button_get_state());
while(true) {
char filename[16];
// Check if files exist, if they do then skip over them
do {
snprintf(filename, 16, "c:/img%.5d.ppm", i);
//snprintf(filename, 16, "img%.5d.ppm", i);
f = fopen(filename, "r");
if (f != NULL) {
printf( "%s already exists...\n",filename );
i++;
result = fclose(f);
if (result) {
perror("first fclose failed");
}
}
} while(f != NULL);
// print file that you are going to write to stderr
fprintf(stderr,"%s ", filename);
fflush(stderr);
f = fopen(filename, "w");
if (f == NULL || i > 512) {
if (f == NULL) {
perror("crap");
} else {
fprintf(stderr, "full\n");
}
while (true) {
cc3_led_set_state(0, true);
cc3_led_set_state(2, true);
cc3_timer_wait_ms(500);
cc3_led_set_state(0, false);
cc3_led_set_state(2, false);
cc3_timer_wait_ms(500);
}
}
if (light_on) {
cc3_led_set_state (2, true);
} else {
cc3_led_set_state (2, false);
}
light_on = !light_on;
capture_ppm(f);
result = fclose(f);
if (result) {
perror("second fclose failed");
}
fprintf(stderr, "\r\n");
i++;
}
return 0;
}
/* simple hello world, showing features and compiling*/
int main (void)
{
uint32_t start_time, end_time, val;
char c;
FILE *fp;
cc3_image_t img;
// init filesystem driver
cc3_filesystem_init ();
// configure uarts
cc3_uart_init (0, CC3_UART_RATE_115200, CC3_UART_MODE_8N1,
CC3_UART_BINMODE_TEXT);
// Make it so that stdout and stdin are not buffered
val = setvbuf (stdout, NULL, _IONBF, 0);
val = setvbuf (stdin, NULL, _IONBF, 0);
printf( "Calling camera init\n" );
cc3_camera_init ();
printf( "Camera init done\n" );
cc3_camera_set_colorspace (CC3_COLORSPACE_RGB);
cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_LOW);
cc3_camera_set_auto_white_balance (true);
cc3_camera_set_auto_exposure (true);
printf ("Hello World...\n");
cc3_led_set_state (0, false);
cc3_led_set_state (1, false);
cc3_led_set_state (2, false);
// sample wait command in ms
cc3_timer_wait_ms (1000);
cc3_led_set_state (0, true);
// sample showing how to write to the MMC card
printf ("Type y to test MMC card, type n if you do not have the card\n");
c = getchar ();
if (c == 'y' || c == 'Y') {
int result;
printf ("\nMMC test...\n");
fp = fopen ("c:/test.txt", "w");
if (fp == NULL) {
perror ("fopen failed");
}
fprintf (fp, "This will be written to the MMC...\n");
result = fclose (fp);
if (result == EOF) {
perror ("fclose failed");
}
printf ("A string was written to test.txt on the mmc card.\n");
}
// sample showing how to read button
printf ("push button on camera back to continue\n");
start_time = cc3_timer_get_current_ms ();
while (!cc3_button_get_state ());
cc3_led_set_state (1, true);
// sample showing how to use timer
printf ("It took you %dms to press the button\n",
cc3_timer_get_current_ms () - start_time);
// setup an image structure
cc3_pixbuf_load ();
img.channels = 3;
img.width = cc3_g_pixbuf_frame.width;
img.height = 1; // image will hold just 1 row for scanline processing
img.pix = cc3_malloc_rows (1);
printf ("Now we will use image data...\n");
val = 0;
/*
* Track the brightest red spot on the image
*/
while (1) {
int y;
uint16_t my_x, my_y;
uint8_t max_red;
cc3_pixel_t my_pix;
if (val & 0x1)
cc3_led_set_state (0, true);
else
cc3_led_set_state (0, false);
if (val & 0x2)
cc3_led_set_state (1, true);
else
cc3_led_set_state (1, false);
if (val & 0x3)
cc3_led_set_state (2, true);
else
cc3_led_set_state (2, false);
if (val & 0x4)
cc3_led_set_state (3, true);
else
cc3_led_set_state (3, false);
val++;
// This tells the camera to grab a new frame into the fifo and reset
// any internal location information.
cc3_pixbuf_frame_set_coi(CC3_CHANNEL_ALL);
cc3_pixbuf_load ();
// red search!
// *** slow method for red search
start_time = cc3_timer_get_current_ms();
max_red = 0;
my_x = 0;
my_y = 0;
y = 0;
while (cc3_pixbuf_read_rows (img.pix, 1)) {
// read a row into the image picture memory from the camera
for (uint16_t x = 0; x < img.width; x++) {
// get a pixel from the img row memory
cc3_get_pixel (&img, x, 0, &my_pix);
if (my_pix.channel[CC3_CHANNEL_RED] > max_red) {
max_red = my_pix.channel[CC3_CHANNEL_RED];
my_x = x;
my_y = y;
}
}
y++;
}
end_time = cc3_timer_get_current_ms();
printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y);
printf (" cc3_get_pixel version took %d ms to complete\n",
end_time - start_time);
// *** faster method for red search
cc3_pixbuf_rewind(); // use exactly the same pixbuf contents
start_time = cc3_timer_get_current_ms();
max_red = 0;
my_x = 0;
my_y = 0;
y = 0;
while (cc3_pixbuf_read_rows (img.pix, 1)) {
// read a row into the image picture memory from the camera
for (uint16_t x = 0; x < img.width * 3; x+=3) {
uint8_t red = ((uint8_t *) img.pix)[x + CC3_CHANNEL_RED];
if (red > max_red) {
max_red = red;
my_x = x;
my_y = y;
}
}
y++;
}
my_x /= 3; // correct channel offset
end_time = cc3_timer_get_current_ms();
printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y);
printf (" faster version took %d ms to complete\n",
end_time - start_time);
// *** even faster method for red search
cc3_pixbuf_rewind(); // use exactly the same pixbuf contents
cc3_pixbuf_frame_set_coi(CC3_CHANNEL_RED);
start_time = cc3_timer_get_current_ms();
max_red = 0;
my_x = 0;
my_y = 0;
y = 0;
while (cc3_pixbuf_read_rows (img.pix, 1)) {
// read a row into the image picture memory from the camera
for (uint16_t x = 0; x < img.width; x++) {
uint8_t red = ((uint8_t *) img.pix)[x];
if (red > max_red) {
max_red = red;
my_x = x;
my_y = y;
}
}
y++;
}
end_time = cc3_timer_get_current_ms();
printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y);
printf (" even faster version took %d ms to complete\n",
end_time - start_time);
printf("\n");
// sample non-blocking serial routine
if (!cc3_uart_has_data (0))
break;
}
free (img.pix); // don't forget to free!
printf ("You pressed %c to escape\n", fgetc (stdin));
// stdio actually works...
printf ("Type in a number followed by return to test scanf: ");
scanf ("%d", &val);
printf ("You typed %d\n", val);
printf ("Good work, now try something on your own...\n");
while (1);
return 0;
}
