Diff: main.cpp

Revision:

1:b3e8acec058f

Parent:

0:ff2018f6c7cd

--- a/main.cpp	Thu May 31 17:37:26 2018 +0000
+++ b/main.cpp	Fri Jun 01 10:28:25 2018 +0000
@@ -1,62 +1,62 @@
 #include "mbed.h"
 #include "Pixy.h"
 
-Serial      pc          (PA_2, PA_3, 921600);
-PIXY        Pixy        (PA_0, PA_1, 230400);
+Serial      pc          (PA_2, PA_3, 921600);                   // Serial link with PC
+PIXY        Pixy        (PA_0, PA_1, 230400);                   // The PIXY
 
-DigitalOut  led1        (PA_5);
-DigitalOut  led2        (PD_2);
-DigitalOut  disquette   (PA_12);
+DigitalOut  led1        (PA_5);                                 // Led1 is for test purpose
+DigitalOut  led2        (PD_2);                                 // Led2 is for test purpose
+DigitalOut  disquette   (PA_12);                                // Baloon destructor command signal (must be set to 0 if not used)
 
 int main()
 {
-    int                 nbCC, nbNM, cr;
-    Byte                msg, brightness = 50;
-    T_pixyCCBloc        CCBuf;
-    T_pixyNMBloc        NMBuf;
+    int                 nbCC, nbNM, cr;                         // Local treatment variables
+    Byte                msg, brightness = 50;                   
+    T_pixyCCBloc        CCBuf;                                  // Color code object buffer
+    T_pixyNMBloc        NMBuf;                                  // Normal object buffer
 
-    pc.printf ("\r\nHelloWorld\r\n");
-    led1 = 1;
-    led2 = 0;
-    disquette = 0;
+    pc.printf ("\r\nHelloWorld\r\n");                           // display "HelloWorld"
+    led1 = 1;                                                   // Switch ON Led1
+    led2 = 0;                                                   // Switch OFF Led2
+    disquette = 0;                                              // Baloon destructor set to OFF
 
-    wait (5);
-    if (Pixy.checkPixy() == -1) {
-        pc.printf ("\rNo Pixy\n\r");
-        while(1);
-    } else {
-        pc.printf ("\rLet's go\n\r");
+    wait (5);                                                   // Wait for PIXY to boot up
+    if (Pixy.checkPixy() == -1) {                               // If no pixy is transmitting (neither pixy not teached or not connected or else)
+        pc.printf ("\rNo Pixy\n\r");                            // display error message            
+        while(1);                                               // Hang
+    } else {                                                    // If pixy is talking
+        pc.printf ("\rRock'n'Roll\n\r");                        // Let fun begin
     }
     
     do {
-        Pixy.setBrightness (brightness);
-        wait (0.2);
-        cr = Pixy.detectedObject (&nbNM, &nbCC);
+        Pixy.setBrightness (brightness);                        // Set brightness  (note that 0 brightness is ajustable in PIXYMON)
+        wait (0.2);                                             // Wait for brightness to establish
+        cr = Pixy.detectedObject (&nbNM, &nbCC);                // Read the number of objects detected
         pc.printf ("\r\nBrightness = %3d => nbCC = %2d - nbNM = %2d : cr = %2d ? ", brightness, nbCC, nbNM, cr);
-        msg = pc.getc();
-        pc.printf("%c\r\n", msg);
-        if (msg=='a') brightness += 5;
-        if (msg=='q') brightness -= 5;
-        if (msg=='z') brightness += 1;
-        if (msg=='s') brightness -= 1;
-    } while (msg != 'X');
+        msg = pc.getc();                                        // Wait for user to choose what to do
+        pc.printf("%c\r\n", msg);                               // Echo
+        if (msg=='a') brightness += 5;                          // if message is 'a' then increase brightness by 5
+        if (msg=='q') brightness -= 5;                          // if message is 'q' then decrease brightness by 5
+        if (msg=='z') brightness += 1;                          // if message is 'z' then increase brightness by 1
+        if (msg=='s') brightness -= 1;                          // if message is 's' then decrease brightness by 1
+    } while (msg != 'X');                                       // Une 'X' to quit
         
     while (1) {
-        if (Pixy.checkNewImage()) {
-            cr = Pixy.detectedObject (&nbNM, &nbCC);
+        if (Pixy.checkNewImage()) {                                             //Wait for new image
+            cr = Pixy.detectedObject (&nbNM, &nbCC);                            // Get detected object list and display it
             pc.printf ("\r\tnbCC = %2d - nbNM = %2d : cr = %2d\n", nbCC, nbNM, cr);
-            while (nbCC > 0) {
-                CCBuf = Pixy.getCCBloc ();
+            while (nbCC > 0) {                                                  // while there are some CC Blocks to read
+                CCBuf = Pixy.getCCBloc ();                                      // Read them from FIFO and display them
                 nbCC--;
                 pc.printf ("\rCC %5d : x=%5d, y=%5d - w=%5d, h=%5d, a=%5d\n", CCBuf.signature, CCBuf.x, CCBuf.y, CCBuf.width, CCBuf.height, (short)CCBuf.angle);
             }
-            while (nbNM > 0) {
-                NMBuf = Pixy.getNMBloc ();
+            while (nbNM > 0) {                                                  // while there are some NM Blocks to read
+                NMBuf = Pixy.getNMBloc ();                                      // Read them from FIFO and display them
                 nbNM--;
                 pc.printf ("\rNM %4x : x=%5d, y=%5d - w=%5d, h=%5d\n", NMBuf.signature, NMBuf.x, NMBuf.y, NMBuf.width, NMBuf.height);
             }
-            led1 = !led1;
-            led2 = !led2;
+            led1 = !led1;                                       // Switch Led1
+            led2 = !led2;                                       // Switch Led2
         }
     }
 }