// Return the bounding boxes of columns at the given y-range
void ColPartitionSet::GetColumnBoxes(int y_bottom, int y_top,
ColSegment_LIST *segments) {
ColPartition_IT it(&parts_);
ColSegment_IT col_it(segments);
col_it.move_to_last();
for (it.mark_cycle_pt(); !it.cycled_list(); it.forward()) {
ColPartition* part = it.data();
ICOORD bot_left(part->LeftAtY(y_top), y_bottom);
ICOORD top_right(part->RightAtY(y_bottom), y_top);
ColSegment *col_seg = new ColSegment();
col_seg->InsertBox(TBOX(bot_left, top_right));
col_it.add_after_then_move(col_seg);
}
}
// Returns a bounding box of the outline contained within the
// given horizontal range.
TBOX BLOBNBOX::BoundsWithinLimits(int left, int right) {
FCOORD no_rotation(1.0f, 0.0f);
float top = box.top();
float bottom = box.bottom();
if (cblob_ptr != NULL) {
find_cblob_limits(cblob_ptr, static_cast<float>(left),
static_cast<float>(right), no_rotation,
bottom, top);
}
if (top < bottom) {
top = box.top();
bottom = box.bottom();
}
FCOORD bot_left(left, bottom);
FCOORD top_right(right, top);
TBOX shrunken_box(bot_left);
TBOX shrunken_box2(top_right);
shrunken_box += shrunken_box2;
return shrunken_box;
}
void eye_control(){
while(1){
if(buttonsPressed & BUTTON_S2){ //D3 to disable eye control
bot_stop();
buttonsPressed=0;
lcd_clear();
print_string(40,30,"Disabled!!");
_delay_ms(3000);
lcd_clear();
break;
}
small_blink=0,big_blink=0,ON=0,menu_counter=0;
short toggle=1;
input = adc_read();
highlight_and_print_string(0,8,"1.Waiting...");
_delay_ms(100);
// lcd_clear();
if(input > AdcThreshold || input==AdcThreshold){
check_blink();
}
if(big_blink){
_delay_ms(1000);
while(1){
if(buttonsPressed & BUTTON_S2){ //D3 to disable eye control
bot_stop();
/*lcd_clear();
print_string(24,30,"Disabled!!");
_delay_ms(1000);
lcd_clear();*/
break;
}
small_blink=0,big_blink=0;
input = adc_read();
if(input > AdcThreshold){
check_blink();
}
if(small_blink && !ON){
menu_counter++;
toggle=1;
if(menu_counter==5) menu_counter=0;
}
else if(big_blink){
//lcd_clear();
if(ON){
ON=0;
bot_stop();
_delay_ms(1000);
toggle=1;
}
else if(menu_counter==0){
_delay_ms(1000);
break;
}
else if(menu_counter==1){
highlight_and_print_string(0,16,"2.Left...");
_delay_ms(1000);
bot_left();
ON=1;
}
else if(menu_counter==2){
highlight_and_print_string(0,24,"3.Right...");
_delay_ms(1000);
bot_right();
ON=1;
}
else if(menu_counter==3){
highlight_and_print_string(0,32,"4.Forward...");
_delay_ms(1000);
bot_forward();
ON=1;
}
else if(menu_counter==4){
highlight_and_print_string(0,40,"5.Backward...");
_delay_ms(1000);
bot_backward();
ON=1;
}
}
if(!ON && toggle){
toggle=0;
//lcd_clear();
print_string(0,0,"===Eye Control===");
print_string(0,8,"1.Wait ");
print_string(0,16,"2.Left ");
print_string(0,24,"3.Right ");
print_string(0,32,"4.Forward ");
print_string(0,40,"5.Backward ");
print_string(0,56,"*S2=ESC*");
switch(menu_counter){
case 0:
highlight_and_print_string(0,8,"1.Wait ");
_delay_ms(100);
break;
case 1:
highlight_and_print_string(0,16,"2.Left ");
_delay_ms(100);
break;
case 2:
highlight_and_print_string(0,24,"3.Right ");
_delay_ms(100);
break;
case 3:
highlight_and_print_string(0,32,"4.Forward ");
_delay_ms(100);
break;
case 4:
highlight_and_print_string(0,40,"5.Backward ");
_delay_ms(100);
break;
default:
break;
}
}
}
}
}
}
