From 4a7e330e5aec00f605959447bce7b768923df1a2 Mon Sep 17 00:00:00 2001
From: Shahrul Kamil bin Hassan <shahrulkamil98@g.ucla.edu>
Date: Thu, 7 Oct 2021 22:48:21 +0000
Subject: [PATCH] Replace Camera.cpp
---
Code/Kamil's Feather Code/Camera.cpp | 37 +++++++++-------------------
1 file changed, 12 insertions(+), 25 deletions(-)
diff --git a/Code/Kamil's Feather Code/Camera.cpp b/Code/Kamil's Feather Code/Camera.cpp
index 539896f..fb27cf8 100644
--- a/Code/Kamil's Feather Code/Camera.cpp
+++ b/Code/Kamil's Feather Code/Camera.cpp
@@ -69,36 +69,23 @@ bool Camera::exe_color_detection_biggestblob(int8_t l_min, int8_t l_max, int8_t
}
}
-void Camera::exe_led_detection(){
- //int8_t color_thresholds[6] = {l_min, l_max, a_min, a_max, b_min, b_max};
- int8_t color_thresholds[6] = {26, 100, -108, -9, 0, -42};
- //struct { uint16_t cx, cy; } color_detection_result;
- short buff[128 + 1] = {};
- if (interface->call(F("LED_detection"), color_thresholds, sizeof(color_thresholds), buff, sizeof(buff)-1)) {
- int i = 0;
- Serial.println("LED detected");
- while (buff[i] != '\0' && i<100) {
- Serial.print(buff[i]);
- i++;
- }
- Serial.println("");
- }
-}
-bool Camera::exe_goalfinder(int goal1, int goal2, int goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
- int goalid[3] = {goal1, goal2, goal3};
+bool Camera::exe_goalfinder(int8_t goal1, int8_t goal2, int8_t goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
+ int8_t goalid[3] = {goal1, goal2, goal3};
struct { uint16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result;
- interface->call(F("goalfinder"), goalid, sizeof(goalid), goalfinder_result, sizeof(goalfinder_result));
+ if(interface->call(F("goalfinder"), goalid, sizeof(goalid), &goalfinder_result, sizeof(goalfinder_result))){
+
+ }
if (goalfinder_result.crx == 0 && goalfinder_result.cry == 0){
return false;
} else {
- goalfinder.cid = id;
- goalfinder.ctx = tx;
- goalfinder.cty = ty;
- goalfinder.ctz = tz;
- goalfinder.crx = rx;
- goalfinder.cry = ry;
- goalfinder.crz = rz;
+ id = goalfinder_result.cid;
+ tx = goalfinder_result.ctx;
+ ty = goalfinder_result.cty;
+ tz = goalfinder_result.ctz;
+ rx = goalfinder_result.crx;
+ ry = goalfinder_result.cry;
+ rz = goalfinder_result.crz;
return true;
}
}
--
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