Page 31CodeNote: For improved readability as the program executes, the Link specific function display_printf isused in place of printf, since printf will scroll the screen once it has reached the last row of the display.display_printf(<col>, <row>, <string>, . . .)Performs a standard printf starting at screen location col, row, limited to columns 0 through 41and rows 0 through 9 (fewer rows if extra buttons are turned on). The effect is a print in placeto the screen. Use of '\n' in the string will distort the outcome. Excess text for any row istruncated./* For a servo plugged into port 0 and initially centered on thecamera's field of vision, this program rotates the servo to keep itpointing towards the largest object for color channel 0 as the object ismoved about */int main() {int offset, x, y;enable_servo(0); // enable servocamera_open(LOW_RES); // activate cameracamera_update(); // get most recent camera image and process itwhile(side_button() == 0) {x = get_object_center(0,0).x; // get image center x datay = get_object_center(0,0).y; // and y dataif(get_object_count(0) > 0) { // there is a blobdisplay_printf(0,1,"Center of largest blod: (%d,%d) ",x,y);offset=5*(x-80); // amount to deviate servo from centerset_servo_position(0,1024+offset);}elsedisplay_printf(0,1,"No object in sight ");msleep(200); // don't rush print statement updatecamera_update(); // get new image data before repeating}disable_servos();camera_close();printf("All done\n");}
