int main()
{
int thresh=25;
CvCapture* capture;
capture = cvCreateCameraCapture(-1);
IplImage *frame,*res;
char win[]="video_stream";
char win2[]="outline_feed";
cvNamedWindow(win,CV_WINDOW_AUTOSIZE);
cvNamedWindow(win2,CV_WINDOW_AUTOSIZE);
cvCreateTrackbar("Threshold",win2,&thresh,128);
while(1)
{
frame=cvQueryFrame(capture);
res = findedge(frame,thresh);
clearnoise(res,0, 3);
clearnoise(res,1, 3);
cvShowImage(win,frame);
cvShowImage(win2,res);
if(cvWaitKey(50)==27)
break;
}
cvReleaseImage(&frame);
cvReleaseImage(&res);
cvReleaseCapture(&capture);
cvDestroyWindow(win);
cvDestroyWindow(win2);
return 0;
}
task main()
{
waitForStart();
while(true)
{
while(!joy1Btn(3) && !joy2Btn(3)) // remove before testing
{
getJoystickSettings(joystick);
if (joy1Btn(6) || joy1Btn(8))
{
power = max_speed;
}
else
{
power = low_speed;
}
left = clearnoise(joystick.joy1_y1);
right = clearnoise(joystick.joy1_y2);
if (joy1Btn(7) || joy1Btn(5))
{
if (abs(left) >= abs(right))
{
right = -1 * left;
}
else
{
left = -1 * right;
}
}
if (joy1Btn(1))
{
left = max(left , right);
right = left;
}
nxtDisplayCenteredTextLine (1,"%f", right);
nxtDisplayCenteredTextLine (2,"%f", left);
motor[R] = right;
motor[L] = left;
}
all_same(0);
}
}
