Diff: main.cpp

Revision:

0:ff2018f6c7cd

Child:

1:b3e8acec058f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu May 31 17:37:26 2018 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+#include "Pixy.h"
+
+Serial      pc          (PA_2, PA_3, 921600);
+PIXY        Pixy        (PA_0, PA_1, 230400);
+
+DigitalOut  led1        (PA_5);
+DigitalOut  led2        (PD_2);
+DigitalOut  disquette   (PA_12);
+
+int main()
+{
+    int                 nbCC, nbNM, cr;
+    Byte                msg, brightness = 50;
+    T_pixyCCBloc        CCBuf;
+    T_pixyNMBloc        NMBuf;
+
+    pc.printf ("\r\nHelloWorld\r\n");
+    led1 = 1;
+    led2 = 0;
+    disquette = 0;
+
+    wait (5);
+    if (Pixy.checkPixy() == -1) {
+        pc.printf ("\rNo Pixy\n\r");
+        while(1);
+    } else {
+        pc.printf ("\rLet's go\n\r");
+    }
+    
+    do {
+        Pixy.setBrightness (brightness);
+        wait (0.2);
+        cr = Pixy.detectedObject (&nbNM, &nbCC);
+        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');
+        
+    while (1) {
+        if (Pixy.checkNewImage()) {
+            cr = Pixy.detectedObject (&nbNM, &nbCC);
+            pc.printf ("\r\tnbCC = %2d - nbNM = %2d : cr = %2d\n", nbCC, nbNM, cr);
+            while (nbCC > 0) {
+                CCBuf = Pixy.getCCBloc ();
+                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 ();
+                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;
+        }
+    }
+}