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Roboter
readCamera.cpp@11:a856adcb0ea9, 2017-04-19 (annotated)
- Committer:
- Shukle
- Date:
- Wed Apr 19 11:33:28 2017 +0000
- Revision:
- 11:a856adcb0ea9
- Parent:
- 10:75a18bf17c86
readCamera update: main to readCamera ge?ndert
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Shukle | 10:75a18bf17c86 | 1 | #include "mbed.h" |
Shukle | 10:75a18bf17c86 | 2 | #include "Pixy.h" |
Shukle | 10:75a18bf17c86 | 3 | |
Shukle | 10:75a18bf17c86 | 4 | Pixy pixy(I2C_SDA, I2C_SCL); |
Shukle | 10:75a18bf17c86 | 5 | Serial pc(SERIAL_TX, SERIAL_RX); |
Shukle | 10:75a18bf17c86 | 6 | |
Shukle | 10:75a18bf17c86 | 7 | static int i = 0; |
Shukle | 10:75a18bf17c86 | 8 | static int k = 0; |
Shukle | 10:75a18bf17c86 | 9 | static int range = 1; // 1: fährt strahl an, 2: fährt kegel an |
Shukle | 10:75a18bf17c86 | 10 | static int state = 0; |
Shukle | 10:75a18bf17c86 | 11 | int j; |
Shukle | 10:75a18bf17c86 | 12 | uint16_t blocks; |
Shukle | 10:75a18bf17c86 | 13 | |
Shukle | 10:75a18bf17c86 | 14 | |
Shukle | 11:a856adcb0ea9 | 15 | int readCamera() |
Shukle | 10:75a18bf17c86 | 16 | { |
Shukle | 10:75a18bf17c86 | 17 | pixy.setSerialOutput(&pc); |
Shukle | 10:75a18bf17c86 | 18 | |
Shukle | 10:75a18bf17c86 | 19 | while (1) { |
Shukle | 10:75a18bf17c86 | 20 | blocks = pixy.getBlocks(1); |
Shukle | 10:75a18bf17c86 | 21 | |
Shukle | 10:75a18bf17c86 | 22 | if (blocks) { |
Shukle | 10:75a18bf17c86 | 23 | i++; |
Shukle | 10:75a18bf17c86 | 24 | if (i % 5 == 0) { |
Shukle | 10:75a18bf17c86 | 25 | for (j = 0; j < blocks; j++) { |
Shukle | 10:75a18bf17c86 | 26 | int xAxis = pixy.blocks[j].x; |
Shukle | 10:75a18bf17c86 | 27 | int yAxis = pixy.blocks[j].y; |
Shukle | 10:75a18bf17c86 | 28 | //printf("%d, %d\n\r", xAxis, yAxis); |
Shukle | 10:75a18bf17c86 | 29 | |
Shukle | 10:75a18bf17c86 | 30 | |
Shukle | 10:75a18bf17c86 | 31 | |
Shukle | 10:75a18bf17c86 | 32 | // soll drehen bis in stahl, fahren bis kegel, 25 pixel links rechts kegel |
Shukle | 10:75a18bf17c86 | 33 | if(xAxis < 185 && xAxis > 135 && yAxis > 155 && yAxis < 190 ) { // wenn Klotz an Position zum aufnehmen |
Shukle | 10:75a18bf17c86 | 34 | state = 4; |
Shukle | 10:75a18bf17c86 | 35 | range = 1; |
Shukle | 10:75a18bf17c86 | 36 | } else { |
Shukle | 10:75a18bf17c86 | 37 | if (range == 1){ // fährt Strahl an |
Shukle | 10:75a18bf17c86 | 38 | if (xAxis < 155){ |
Shukle | 10:75a18bf17c86 | 39 | state = 1; |
Shukle | 10:75a18bf17c86 | 40 | } else if (xAxis > 165){ |
Shukle | 10:75a18bf17c86 | 41 | state = 2; |
Shukle | 10:75a18bf17c86 | 42 | } else{ // fährt gerade |
Shukle | 10:75a18bf17c86 | 43 | state = 3; |
Shukle | 10:75a18bf17c86 | 44 | range = 2; |
Shukle | 10:75a18bf17c86 | 45 | } |
Shukle | 10:75a18bf17c86 | 46 | } else { // fährt solange bis Kegelrand |
Shukle | 10:75a18bf17c86 | 47 | if (xAxis > 185 || xAxis < 135) { |
Shukle | 10:75a18bf17c86 | 48 | range = 1; |
Shukle | 10:75a18bf17c86 | 49 | } |
Shukle | 10:75a18bf17c86 | 50 | } |
Shukle | 10:75a18bf17c86 | 51 | } |
Shukle | 10:75a18bf17c86 | 52 | |
Shukle | 10:75a18bf17c86 | 53 | |
Shukle | 10:75a18bf17c86 | 54 | |
Shukle | 10:75a18bf17c86 | 55 | } |
Shukle | 10:75a18bf17c86 | 56 | k=0; |
Shukle | 10:75a18bf17c86 | 57 | } |
Shukle | 10:75a18bf17c86 | 58 | } else{ |
Shukle | 10:75a18bf17c86 | 59 | k++; |
Shukle | 10:75a18bf17c86 | 60 | if (k % 20 == 0) { |
Shukle | 10:75a18bf17c86 | 61 | i=0; |
Shukle | 10:75a18bf17c86 | 62 | state = 0; |
Shukle | 10:75a18bf17c86 | 63 | } |
Shukle | 10:75a18bf17c86 | 64 | } |
Shukle | 10:75a18bf17c86 | 65 | printf("%d\n\r",state); |
Shukle | 11:a856adcb0ea9 | 66 | return state; |
Shukle | 10:75a18bf17c86 | 67 | } |
Shukle | 10:75a18bf17c86 | 68 | } |