File content as of revision 11:cd450ce343a8:

#include "mbed.h"

//******************************************************************
// All variables defined below
//******************************************************************

//communication
DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);
Serial keyOut(p13, p14);
I2C camera1(p9, p10);

//initial camera data
int IRsensorAddress = 0xB0;
int slaveAddress;
char data_buf[16];
char s;
int i;

//previous point values
int prevX = 1023;
int prevY = 1023;

//point variables
int point1x = 0;
int point1y = 0;
int point2x = 0;
int point2y = 0;
int point3x = 0;
int point3y = 0;
int point4x = 0;
int point4y = 0;

//sensitivity
//Level 5: p0 = 0x96, p1 = 0xFE, p2 = 0xFE, p3 = 0x05
//highest sensitivity to more accurately detect points
int sen0 = 0x96;
int sen1 = 0xFE;
int sen2 = 0xFE;
int sen3 = 0x00;

//matrices of x and y coordinates from the first camera
int onex[4];
int oney[4];

//******************************************************************
// All methods defined below
//******************************************************************


//writes two bytes to the camera
void write2bytes(char data1, char data2){
    char out[2];
    out[0] = data1;
    out[1] = data2;
    camera1.write(slaveAddress, out, 2);
    wait(0.01);   
}

//TODO: get rid of these b/c they don't work. instead use printc
//
void mouseCommand(char buttons, char x, char y) {
  keyOut.putc(0xFD);
  keyOut.putc(0x00);
  keyOut.putc(0x03);
  keyOut.putc(buttons);
  keyOut.putc(x);
  keyOut.putc(y);
  keyOut.putc(0x00);
  keyOut.putc(0x00);
  keyOut.putc(0x00);
  
  //delay for pushing data
  wait(0.1);
}


// Initialize WiiMote Camera
void initCamera(void){
    write2bytes(0x30, 0x01); 
    write2bytes(0x00, 0x02); 
    write2bytes(0x00, 0x00); 
    write2bytes(0x71, 0x01); 
    write2bytes(0x00, sen0); 
    write2bytes(0x07, 0x00); 
    write2bytes(sen1, 0x1A);
    write2bytes(sen2, sen3); 
    write2bytes(0x33, 0x03); 
    write2bytes(0x30, 0x08);
    //wait(0.1);

}

//get data from camera one 
//populates onex and oney with values depending on the measured points
//NOTE: 1023 means nothing was detected
void readCameraData(void){
        
    //request data from camera 
    char out[1];
    out[0] = 0x36;   
    camera1.write(slaveAddress, out, 1);
    //wait(0.2); //do we need this?
    
    //get data from camera
    camera1.read(slaveAddress, data_buf, 16);
        
    //POINT 1
    //get data
    point1x = data_buf[1];
    point1y = data_buf[2];
    s = data_buf[3];
    //load x,y    
    onex[0] = point1x + ((s & 0x30) << 4);
    oney[0] = point1y + ((s & 0xC0) << 2);
    
    
    //>>>>>>>>>>>>>>>>>Begin unfinished code for moving 

    int deadzone = 5;
    //look at delta btwn prev val and current
    //TODO: moving average
    if((prevX != 1023 || prevY != 1023) && (onex[0] != 1023 && oney[0] != 1023)){
        int diffX = onex[0] - prevX;
        int diffY = -1*(oney[0] - prevY);
    
        //fix diffX
        if(diffX > deadzone){
            diffX -= deadzone;
        } else if (diffX < -1*deadzone){
            diffX += deadzone;
        } else{
            diffX = 0;
        }
        //fix diffY
        if(diffY > deadzone){
            diffY -= deadzone;
        } else if (diffX < -1*deadzone){
            diffY += deadzone;
        } else{
            diffY = 0;
        }
        
        //move x and y
        mouseCommand(0, (char) diffX, (char) diffY);
    }
    
    //update prev values
    prevX = onex[0];
    prevY = oney[0];
    
    
    //<<<<<<<<<<<<<<<<End unfinished code for moving averages
    
    //POINT 2
    //get data
    point2x = data_buf[4];
    point2y = data_buf[5];
    s = data_buf[6];
    //load x,y
    onex[1] = point2x + ((s & 0x30) << 4);
    oney[1] = point2y + ((s & 0xC0) << 2);
      
    //POINT 3
    //get data
    point3x = data_buf[7];
    point3y = data_buf[8];
    s = data_buf[9];
    //load x,y
    onex[2] = point3x + ((s & 0x30) << 4);
    oney[2] = point3y + ((s & 0xC0) << 2);
    
    //POINT 4
    //get data
    point4x = data_buf[10];
    point4y = data_buf[11];
    s = data_buf[12];
    //load x,y
    onex[3] = point4x + ((s & 0x30) << 4);
    oney[3] = point4y + ((s & 0xC0) << 2);
    
}

//print to serial monitor the coordinates of the points stored in
//the passed x and y arrays
void printCamData(int xcor[4], int ycor[4]){
    for(int i = 0; i<4; i++){
        int x = xcor[i];
        int y = ycor[i];
        //determine what to print
        //x coordinate
        pc.printf(" %d,", x);
        
        //y coordinate
        pc.printf(" %d\t", y);     
    }
    
    //new line and delay
    pc.printf("\n");      
    //wait(0.01);
}




//entrance to the code
int main() {
    myled = 0;
    //slaveAddress = IRsensorAddress >> 1;
    slaveAddress = IRsensorAddress;
    initCamera();
    
    //update baud rate
    pc.baud(115200);
    
    //loop to search for new info using the camera    
    while(1) {
        
        //wait 
        wait(0.04);
        
        //toggle test LED 
        myled = 1 - myled;
        
        //get the camera data
        readCameraData();
        
        //print points
        printCamData(onex, oney);  
        
        //uncomment below to test infinite print
        //keyOut.putc(0x41);

        
        //uncomment below to infinitely move mouse up and down
//        double delay = 0.1;
//        int change = 75;
//        mouseCommand(0,0, (char) -1*change);
//        wait(delay);
//        mouseCommand(0,(char) -1*change,0);
//        wait(delay);  
//        mouseCommand(0,0, (char) change);
//        wait(delay);
//        mouseCommand(0,(char) change,0);
//        wait(delay);  
        //mouseCommand(0,0,(char) 100);              
        //wait(.05);
        
        
    }
}