Gruppe 3
/
PES1
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Revision 10:75a18bf17c86, committed 2017-04-19
- Comitter:
- Shukle
- Date:
- Wed Apr 19 10:13:52 2017 +0000
- Parent:
- 9:d9e46f9c9e40
- Child:
- 11:7c5598781280
- Commit message:
- readCamera hinzugef?gt
Changed in this revision
--- a/Roboter.h Wed Apr 19 10:07:55 2017 +0000
+++ b/Roboter.h Wed Apr 19 10:13:52 2017 +0000
@@ -4,7 +4,7 @@
#include <mbed.h>
#include "IRSensor.h"
#include "Servo.h"
-#include "Kamera.h"
+#include "readCamera.h"
class Roboter
{
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pixy.lib Wed Apr 19 10:13:52 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/PES-2/code/pixy/#b0a6783fb615
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/readCamera.cpp Wed Apr 19 10:13:52 2017 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "Pixy.h"
+
+Pixy pixy(I2C_SDA, I2C_SCL);
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+static int i = 0;
+static int k = 0;
+static int range = 1; // 1: fährt strahl an, 2: fährt kegel an
+static int state = 0;
+int j;
+uint16_t blocks;
+
+
+int main()
+{
+ pixy.setSerialOutput(&pc);
+
+ while (1) {
+ blocks = pixy.getBlocks(1);
+
+ if (blocks) {
+ i++;
+ if (i % 5 == 0) {
+ for (j = 0; j < blocks; j++) {
+ int xAxis = pixy.blocks[j].x;
+ int yAxis = pixy.blocks[j].y;
+ //printf("%d, %d\n\r", xAxis, yAxis);
+
+
+
+ // soll drehen bis in stahl, fahren bis kegel, 25 pixel links rechts kegel
+ if(xAxis < 185 && xAxis > 135 && yAxis > 155 && yAxis < 190 ) { // wenn Klotz an Position zum aufnehmen
+ state = 4;
+ range = 1;
+ } else {
+ if (range == 1){ // fährt Strahl an
+ if (xAxis < 155){
+ state = 1;
+ } else if (xAxis > 165){
+ state = 2;
+ } else{ // fährt gerade
+ state = 3;
+ range = 2;
+ }
+ } else { // fährt solange bis Kegelrand
+ if (xAxis > 185 || xAxis < 135) {
+ range = 1;
+ }
+ }
+ }
+
+
+
+ }
+ k=0;
+ }
+ } else{
+ k++;
+ if (k % 20 == 0) {
+ i=0;
+ state = 0;
+ }
+ }
+ printf("%d\n\r",state);
+ //return state;
+ }
+}
\ No newline at end of file