FRC - Hackathon
Pixy (cmucam5) Library HelloWorld Program
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TestPixy
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FRC - Hackathon
Revision 1:b3e8acec058f, committed 2018-06-01
- Comitter:
- haarkon
- Date:
- Fri Jun 01 10:28:25 2018 +0000
- Parent:
- 0:ff2018f6c7cd
- Commit message:
- Test and Helloworld program for Pixy (CMUCAM5) smart camera Library
Changed in this revision
| Pixy.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r ff2018f6c7cd -r b3e8acec058f Pixy.lib --- a/Pixy.lib Thu May 31 17:37:26 2018 +0000 +++ b/Pixy.lib Fri Jun 01 10:28:25 2018 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/FRC-Hackathon/code/Pixy/#1e4c6d7a0053 +https://os.mbed.com/teams/FRC-Hackathon/code/Pixy/#5982d904f7aa
diff -r ff2018f6c7cd -r b3e8acec058f main.cpp
--- 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
}
}
}