#use "CMUCAM3.ic"
#define cmu_WAIT 40L

// Adapted from code by Paul Rybski
// Simplified API for Botball by Randy Sargent 7/30/2002
// Reorganized data output and raw data commands by Jim Peterson 8/06/02
// Standardized interface by David Miller 1/5/03

// IMPORTANT NOTE!!!!!!!
// Using this library REQUIRES that you hold down the start_button on the HB
// when you turn it on, if you are going to download an ic file from IC4. Do not hold
// down the start button if you are trying to load the pcode or just trying
// to run your program.  IC4 will not be able to communicate with your board
// unless you turn on the HB with the start button down, once this library has
// been loaded.  Restarting IC or loading a main file that does not use this
// library, will remove this requirement

// How to use this library:
// AA
// Put the line:
// use "cmucamlib.ic"
// as the first line in your file.

// A 
// Initialize the camera - this only needs to be done once:
// init_camera();

// B
// Set the white balance by pointing the camera at a white surface
// under the lighting conditions you are going to track things and call:
// clamp_camera_yuv();
// be patient. this takes 15 seconds!

// C
// call track_blue() or track_orange to see if the camera sees the
// blue marker paper or sees the orange poof ball. just use the one
// you need in any particular condition. each function returns 0 if
// there was a comm error or no blob, or returns a positive number
// which is confidence if a blob was found.  A good blob has a 
// confidence in the high double-digits or in the triple digits.
// If you are tracking something successfully, find its position and
// size using track_x, track_y, track_size, etc.

//
// see the comments for the file CMUCAM3.ic for more low-level functions

// this special function returns 0 if it fails to find a blue object, or
// else a positive number denoting the confidence of the blob it has found.
// In this case track_x, track_y, track_size, etc... have all the useful data
// This function is designed to be used AFTER you have clamped white balance
// and specifically is meant for the blue corner-mark paper
// Note that we find blue paper by looking in CrYCb space for a blob in which
// Cb is bigger or as big as Cr and where their two values are middle-of-the-road
int track_blue()
{
    int rbedge;
    for (rbedge = 120; rbedge > 99; rbedge = rbedge - 10) {
        if (trackRaw(100, rbedge, 40, 120, rbedge, 240) > 0) {
            return track_confidence;
        }
    }
    return 0;        
} // end track_blue() //

// this special function returns 0 if it fails to find an orange object, or
// else a positive number denoting the confidence of the blob it has found.
// In this case track_x, track_y, track_size, etc... have all the useful data
// This function is designed to work *after* you have clamped white balance 
// and specifically is meant for the orange poof ball
// Note that we find orange Poof ball by looking for areas with very high
// Cr (in CrYCb space) and *extremely* small Cb (virtually nil)
int track_orange()
{
    int crmin;
    if (trackRaw(180,240,20,150,16,18) > 0) {
        return track_confidence;
    } else return 0;
} // end track_orange() //


// this clamps gain and white balance and stops them with
// the camera in YUV mode
int clamp_camera_yuv()
{
    printf("Point at white  and press start\n"); 
    while (!start_button());
    send_R_command_raw("CR 18 36\r",9);
    msleep(cmu_WAIT);
    
    printf("Setting white   balance...\n");
    sleep(15.0);
    send_R_command_raw("CR 18 32\r",9);
    msleep(cmu_WAIT);
} // clamp_camera_yuv() //