pixy Libari 2
Dependents: PES PES1 PES4 PES3
Pixy.h@1:a57585d5e81b, 2017-03-29 (annotated)
- Committer:
- scholfa2
- Date:
- Wed Mar 29 12:34:18 2017 +0000
- Revision:
- 1:a57585d5e81b
- Parent:
- 0:ed8dc4531ac1
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
scholfa2 | 1:a57585d5e81b | 1 | #ifndef PIXY_H |
scholfa2 | 1:a57585d5e81b | 2 | #define PIXY_H |
acracan | 0:ed8dc4531ac1 | 3 | |
acracan | 0:ed8dc4531ac1 | 4 | #include "mbed.h" |
acracan | 0:ed8dc4531ac1 | 5 | #include "PixyLinkI2C.h" |
acracan | 0:ed8dc4531ac1 | 6 | |
acracan | 0:ed8dc4531ac1 | 7 | struct Block { |
scholfa2 | 1:a57585d5e81b | 8 | void print(Serial &pc) { |
acracan | 0:ed8dc4531ac1 | 9 | pc.printf("sig: %d x: %d y: %d width: %d height: %d\n", signature, x, y, width, height); |
acracan | 0:ed8dc4531ac1 | 10 | }; |
acracan | 0:ed8dc4531ac1 | 11 | uint16_t signature; |
acracan | 0:ed8dc4531ac1 | 12 | uint16_t x; |
acracan | 0:ed8dc4531ac1 | 13 | uint16_t y; |
acracan | 0:ed8dc4531ac1 | 14 | uint16_t width; |
acracan | 0:ed8dc4531ac1 | 15 | uint16_t height; |
acracan | 0:ed8dc4531ac1 | 16 | }; |
acracan | 0:ed8dc4531ac1 | 17 | |
acracan | 0:ed8dc4531ac1 | 18 | class Pixy |
acracan | 0:ed8dc4531ac1 | 19 | { |
acracan | 0:ed8dc4531ac1 | 20 | public: |
scholfa2 | 1:a57585d5e81b | 21 | Pixy(PinName mosi_sda_tx, PinName miso_scl_rx); |
acracan | 0:ed8dc4531ac1 | 22 | ~Pixy(); |
acracan | 0:ed8dc4531ac1 | 23 | uint16_t getBlocks(uint16_t maxBlocks=1000); |
acracan | 0:ed8dc4531ac1 | 24 | int8_t setServos(uint16_t s0, uint16_t s1); |
acracan | 0:ed8dc4531ac1 | 25 | void setAddress(uint8_t addr); |
acracan | 0:ed8dc4531ac1 | 26 | void setSerialOutput(Serial *pc); |
acracan | 0:ed8dc4531ac1 | 27 | |
acracan | 0:ed8dc4531ac1 | 28 | Block *blocks; |
acracan | 0:ed8dc4531ac1 | 29 | |
acracan | 0:ed8dc4531ac1 | 30 | private: |
acracan | 0:ed8dc4531ac1 | 31 | static const uint8_t PIXY_INITIAL_ARRAYSIZE = 30; |
acracan | 0:ed8dc4531ac1 | 32 | static const uint8_t PIXY_MAXIMUM_ARRAYSIZE = 130; |
acracan | 0:ed8dc4531ac1 | 33 | static const uint16_t PIXY_START_WORD = 0xaa55; |
acracan | 0:ed8dc4531ac1 | 34 | static const uint16_t PIXY_START_WORDX = 0x55aa; |
scholfa2 | 1:a57585d5e81b | 35 | static const uint8_t PIXY_DEFAULT_ADDR = 0xAC; // I2C Adresse |
acracan | 0:ed8dc4531ac1 | 36 | |
acracan | 0:ed8dc4531ac1 | 37 | bool getStart(); |
acracan | 0:ed8dc4531ac1 | 38 | void resize(); |
acracan | 0:ed8dc4531ac1 | 39 | |
acracan | 0:ed8dc4531ac1 | 40 | bool skipStart; |
acracan | 0:ed8dc4531ac1 | 41 | uint16_t blockCount; |
acracan | 0:ed8dc4531ac1 | 42 | uint16_t blockArraySize; |
acracan | 0:ed8dc4531ac1 | 43 | |
acracan | 0:ed8dc4531ac1 | 44 | PixyLink *m_link; |
acracan | 0:ed8dc4531ac1 | 45 | Serial *pc; |
acracan | 0:ed8dc4531ac1 | 46 | }; |
scholfa2 | 1:a57585d5e81b | 47 | #endif //PIXY_H |