void startline(uchar hang_begin,uchar hang_end)
{
int i,j,point_field=0,count,cycle=0,sum;
for(i=rows-1;i>=1;i--)
{
point_field+=path_mid-path_mid[i-1];
}
point_field/=rows;
if(point_field>-10&&point_field<10)
{
for(i=hang_begin;i>=hang_end;i--)
{
count=sum=0;
for(j=0;j<cols-3;j++)
{
if(image[j]<threshold&&image[j+1]<threshold&&image[j+2]>=threshold&&image[j+3]>=threshold)
{
if(j-sum>5)
{
sum=j;
count++;
}
}
if(image[j]>=threshold&&image[j+1]>=threshold&&image[j+2]<threshold&&image[j+3]<threshold)
{
if(j-sum>5)
{
sum=j;
count++;
}
}
}
if(count>=5)
cycle++;
}
if(cycle>3)
motor_braking();
}
}