FRC - Hackathon
/
TestPixy
Pixy (cmucam5) Library HelloWorld Program
Fork of TestPixy by
main.cpp
- Committer:
- haarkon
- Date:
- 2018-05-31
- Revision:
- 0:ff2018f6c7cd
- Child:
- 1:b3e8acec058f
File content as of revision 0:ff2018f6c7cd:
#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; } } }