From 7eca7876463f983daa70b8f9b29d0233180fd137 Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Fri, 15 Oct 2021 02:36:13 -0700
Subject: [PATCH] test the color threshold
---
.../ESP32_slave/ESP32_slave.ino | 36 +++++++++++++++++--
1 file changed, 33 insertions(+), 3 deletions(-)
diff --git a/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino b/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino
index f6dbb95..8988213 100644
--- a/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino
+++ b/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino
@@ -12,6 +12,9 @@ double Kpx=2, Kix=0.1, Kdx=0.25;
double Kpy=1, Kiy=0.1, Kdy=0.25;
int g1 = 0,g2=1,g3=2;
int goal_id[3] = {g1, g2, g3};
+int Lmin = 30,Lmax = 100, Amin = -49,Amax = -22,Bmin = 31,Bmax = 127;
+int threshold[6] = {Lmin, Lmax, Amin, Amax, Bmin, Bmax};
+
//-------------------------------------------------------------------------------------
typedef struct RxStruct
{
@@ -51,16 +54,43 @@ void loop()
Kpy = getDoubleVal(strData,"kpy",valData,Kpy);
Kiy = getDoubleVal(strData,"kiy",valData,Kiy);
Kdy = getDoubleVal(strData,"kdy",valData,Kdy);
- g1 = getDoubleVal(strData,"gda",valData,goal_id[0]);
- g2 = getDoubleVal(strData,"gdb",valData,goal_id[1]);
- g3 = getDoubleVal(strData,"gdc",valData,goal_id[2]);
+ g1 = getIntVal(strData,"gda",valData,goal_id[0]);
+ g2 = getIntVal(strData,"gdb",valData,goal_id[1]);
+ g3 = getIntVal(strData,"gdc",valData,goal_id[2]);
goal_id[0] = g1;
goal_id[1] = g2;
goal_id[2] = g3;
+ Lmin = getIntVal(strData,"tha",valData,threshold[0]);
+ Lmax = getIntVal(strData,"thb",valData,threshold[1]);
+ Amin = getIntVal(strData,"thc",valData,threshold[2]);
+ Amax = getIntVal(strData,"thd",valData,threshold[3]);
+ Bmin = getIntVal(strData,"the",valData,threshold[4]);
+ Bmax = getIntVal(strData,"thf",valData,threshold[5]);
+ threshold[0] = Lmin;
+ threshold[1] = Lmax;
+ threshold[2] = Amin;
+ threshold[3] = Amax;
+ threshold[4] = Bmin;
+ threshold[5] = Bmax;
+
+ Serial.print("threshold:");
+ Serial.print(threshold[0]);
+ Serial.print("|");
+ Serial.print(threshold[1]);
+ Serial.print("|");
+ Serial.print(threshold[2]);
+ Serial.print("|");
+ Serial.print(threshold[3]);
+ Serial.print("|");
+ Serial.print(threshold[4]);
+ Serial.print("|");
+ Serial.println(threshold[5]);
+ /*
Serial.print("gid:");
Serial.print(goal_id[0]);
Serial.print(goal_id[1]);
Serial.println(goal_id[2]);
+ */
/*
Serial.print("Kpx:");
Serial.println(Kpx);
--
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