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Dependencies:   mbed

main.cpp@3:7b0c215eb6a7, 2017-03-31 (annotated)

Committer:
jennabarton
Date:
Fri Mar 31 22:49:07 2017 +0000
Revision:
3:7b0c215eb6a7
Parent:
2:f501e506d62b
Child:
4:1f443e7a0122
received camera data, prints to screen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daviwang 0:1c15cf9cc4f9 1 #include "mbed.h"
daviwang 0:1c15cf9cc4f9 2
daviwang 0:1c15cf9cc4f9 3 DigitalOut myled(LED1);
daviwang 1:2e895e5272ab 4 Serial pc(USBTX, USBRX);
daviwang 1:2e895e5272ab 5
daviwang 1:2e895e5272ab 6 I2C camera1(p9, p10);
daviwang 1:2e895e5272ab 7
jennabarton 2:f501e506d62b 8 //initial camera data
daviwang 1:2e895e5272ab 9 int IRsensorAddress = 0xB0;
daviwang 1:2e895e5272ab 10 int slaveAddress;
daviwang 1:2e895e5272ab 11 char data_buf[16];
jennabarton 2:f501e506d62b 12 char s;
daviwang 1:2e895e5272ab 13 int i;
daviwang 1:2e895e5272ab 14
daviwang 1:2e895e5272ab 15
jennabarton 2:f501e506d62b 16 //point variables
jennabarton 2:f501e506d62b 17 int point1x = 0;
jennabarton 2:f501e506d62b 18 int point1y = 0;
jennabarton 2:f501e506d62b 19 int point2x = 0;
jennabarton 2:f501e506d62b 20 int point2y = 0;
jennabarton 2:f501e506d62b 21 int point3x = 0;
jennabarton 2:f501e506d62b 22 int point3y = 0;
jennabarton 2:f501e506d62b 23 int point4x = 0;
jennabarton 2:f501e506d62b 24 int point4y = 0;
jennabarton 2:f501e506d62b 25
jennabarton 2:f501e506d62b 26
jennabarton 2:f501e506d62b 27
daviwang 1:2e895e5272ab 28 //sensitivity
daviwang 1:2e895e5272ab 29 //Level 5: p0 = 0x96, p1 = 0xFE, p2 = 0xFE, p3 = 0x05
daviwang 1:2e895e5272ab 30 int sen0 = 0x96;
daviwang 1:2e895e5272ab 31 int sen1 = 0xFE;
daviwang 1:2e895e5272ab 32 int sen2 = 0xFE;
daviwang 1:2e895e5272ab 33 int sen3 = 0x00;
daviwang 1:2e895e5272ab 34
jennabarton 2:f501e506d62b 35 //matrices of x and y coordinates
jennabarton 2:f501e506d62b 36 int onex[4];
jennabarton 2:f501e506d62b 37 int oney[4];
daviwang 1:2e895e5272ab 38
daviwang 1:2e895e5272ab 39
daviwang 1:2e895e5272ab 40 void write2bytes(char data1, char data2){
daviwang 1:2e895e5272ab 41 char out[2];
daviwang 1:2e895e5272ab 42 out[0] = data1;
daviwang 1:2e895e5272ab 43 out[1] = data2;
daviwang 1:2e895e5272ab 44 camera1.write(slaveAddress, out, 2);
daviwang 1:2e895e5272ab 45 wait(0.01);
daviwang 1:2e895e5272ab 46 }
daviwang 1:2e895e5272ab 47
daviwang 1:2e895e5272ab 48 void initCamera(void){
daviwang 1:2e895e5272ab 49 // Initialize WiiMote Camera
daviwang 1:2e895e5272ab 50 write2bytes(0x30, 0x01);
daviwang 1:2e895e5272ab 51 write2bytes(0x00, 0x02);
daviwang 1:2e895e5272ab 52 write2bytes(0x00, 0x00);
daviwang 1:2e895e5272ab 53 write2bytes(0x71, 0x01);
daviwang 1:2e895e5272ab 54 write2bytes(0x00, sen0);
daviwang 1:2e895e5272ab 55 write2bytes(0x07, 0x00);
daviwang 1:2e895e5272ab 56 write2bytes(sen1, 0x1A);
daviwang 1:2e895e5272ab 57 write2bytes(sen2, sen3);
daviwang 1:2e895e5272ab 58 write2bytes(0x33, 0x03);
daviwang 1:2e895e5272ab 59 write2bytes(0x30, 0x08);
jennabarton 3:7b0c215eb6a7 60 //wait(0.1);
daviwang 1:2e895e5272ab 61
daviwang 1:2e895e5272ab 62 }
daviwang 0:1c15cf9cc4f9 63
jennabarton 2:f501e506d62b 64 void readCameraData(void){
jennabarton 2:f501e506d62b 65
jennabarton 2:f501e506d62b 66 //request data from camera
jennabarton 2:f501e506d62b 67 char out[1];
jennabarton 2:f501e506d62b 68 out[0] = 0x36;
jennabarton 2:f501e506d62b 69 camera1.write(slaveAddress, out, 1);
jennabarton 2:f501e506d62b 70 //wait(0.2); //do we need this?
jennabarton 2:f501e506d62b 71
jennabarton 2:f501e506d62b 72 //get data from camera
jennabarton 2:f501e506d62b 73 camera1.read(slaveAddress, data_buf, 16);
jennabarton 2:f501e506d62b 74
jennabarton 3:7b0c215eb6a7 75 // //print content of data buffer
jennabarton 3:7b0c215eb6a7 76 // for(int i = 0; i < 16; i++){
jennabarton 3:7b0c215eb6a7 77 // pc.printf(" data buf %d --> %c <-- \t as int --> %d <--\n", i, data_buf[i], (float) data_buf[i]);
jennabarton 3:7b0c215eb6a7 78 //
jennabarton 3:7b0c215eb6a7 79 // }
jennabarton 2:f501e506d62b 80
jennabarton 3:7b0c215eb6a7 81
jennabarton 2:f501e506d62b 82
jennabarton 2:f501e506d62b 83 //POINT 1
jennabarton 2:f501e506d62b 84 //get data
jennabarton 2:f501e506d62b 85 point1x = data_buf[1];
jennabarton 2:f501e506d62b 86 point1y = data_buf[2];
jennabarton 2:f501e506d62b 87 s = data_buf[3];
jennabarton 3:7b0c215eb6a7 88 //load x,y
jennabarton 3:7b0c215eb6a7 89 onex[0] = point1x + ((s & 0x30) << 4);
jennabarton 3:7b0c215eb6a7 90 oney[0] = point1y + ((s & 0xC0) << 2);
jennabarton 2:f501e506d62b 91
jennabarton 2:f501e506d62b 92 //POINT 2
jennabarton 2:f501e506d62b 93 //get data
jennabarton 2:f501e506d62b 94 point2x = data_buf[4];
jennabarton 2:f501e506d62b 95 point2y = data_buf[5];
jennabarton 2:f501e506d62b 96 s = data_buf[6];
jennabarton 2:f501e506d62b 97 //load x,y
jennabarton 2:f501e506d62b 98 onex[1] = point2x + ((s & 0x30) << 4);
jennabarton 2:f501e506d62b 99 oney[1] = point2y + ((s & 0xC0) << 2);
jennabarton 3:7b0c215eb6a7 100
jennabarton 2:f501e506d62b 101 //POINT 3
jennabarton 2:f501e506d62b 102 //get data
jennabarton 2:f501e506d62b 103 point3x = data_buf[7];
jennabarton 2:f501e506d62b 104 point3y = data_buf[8];
jennabarton 2:f501e506d62b 105 s = data_buf[9];
jennabarton 2:f501e506d62b 106 //load x,y
jennabarton 2:f501e506d62b 107 onex[2] = point3x + ((s & 0x30) << 4);
jennabarton 2:f501e506d62b 108 oney[2] = point3y + ((s & 0xC0) << 2);
jennabarton 2:f501e506d62b 109
jennabarton 2:f501e506d62b 110 //POINT 4
jennabarton 2:f501e506d62b 111 //get data
jennabarton 2:f501e506d62b 112 point4x = data_buf[10];
jennabarton 2:f501e506d62b 113 point4y = data_buf[11];
jennabarton 2:f501e506d62b 114 s = data_buf[12];
jennabarton 2:f501e506d62b 115 //load x,y
jennabarton 2:f501e506d62b 116 onex[3] = point4x + ((s & 0x30) << 4);
jennabarton 2:f501e506d62b 117 oney[3] = point4y + ((s & 0xC0) << 2);
jennabarton 2:f501e506d62b 118
jennabarton 2:f501e506d62b 119 }
jennabarton 2:f501e506d62b 120
jennabarton 2:f501e506d62b 121 void printCamData(int xcor[4], int ycor[4]){
jennabarton 2:f501e506d62b 122 for(int i = 0; i<4; i++){
jennabarton 2:f501e506d62b 123 int x = xcor[i];
jennabarton 2:f501e506d62b 124 int y = ycor[i];
jennabarton 2:f501e506d62b 125 //determine what to print
jennabarton 2:f501e506d62b 126 //x coordinate
jennabarton 3:7b0c215eb6a7 127 pc.printf(" %d,", x);
jennabarton 2:f501e506d62b 128
jennabarton 2:f501e506d62b 129 //y coordinate
jennabarton 3:7b0c215eb6a7 130 pc.printf(" %d\t", y);
jennabarton 2:f501e506d62b 131 }
jennabarton 2:f501e506d62b 132
jennabarton 2:f501e506d62b 133 //new line and delay
jennabarton 2:f501e506d62b 134 pc.printf("\n");
jennabarton 3:7b0c215eb6a7 135 //wait(0.01);
jennabarton 2:f501e506d62b 136 }
jennabarton 2:f501e506d62b 137
daviwang 0:1c15cf9cc4f9 138 int main() {
daviwang 1:2e895e5272ab 139 myled = 0;
jennabarton 3:7b0c215eb6a7 140 //slaveAddress = IRsensorAddress >> 1;
jennabarton 3:7b0c215eb6a7 141 slaveAddress = IRsensorAddress;
daviwang 1:2e895e5272ab 142 initCamera();
daviwang 1:2e895e5272ab 143
jennabarton 3:7b0c215eb6a7 144 //update baud rate
jennabarton 3:7b0c215eb6a7 145 pc.baud(115200);
jennabarton 3:7b0c215eb6a7 146
daviwang 1:2e895e5272ab 147
daviwang 0:1c15cf9cc4f9 148 while(1) {
jennabarton 3:7b0c215eb6a7 149 wait(0.01);
jennabarton 2:f501e506d62b 150 myled = 1 - myled;
jennabarton 2:f501e506d62b 151
jennabarton 2:f501e506d62b 152 //get the camera data
jennabarton 2:f501e506d62b 153 readCameraData();
daviwang 1:2e895e5272ab 154
jennabarton 2:f501e506d62b 155 //print points
jennabarton 3:7b0c215eb6a7 156 printCamData(onex, oney);
daviwang 1:2e895e5272ab 157
daviwang 0:1c15cf9cc4f9 158 }
daviwang 0:1c15cf9cc4f9 159 }