pixy Libari 2
Dependents: PES PES1 PES4 PES3
Diff: Pixy.cpp
- Revision:
- 1:a57585d5e81b
- Parent:
- 0:ed8dc4531ac1
- Child:
- 2:b0a6783fb615
--- a/Pixy.cpp Sun Nov 16 11:52:55 2014 +0000 +++ b/Pixy.cpp Wed Mar 29 12:34:18 2017 +0000 @@ -1,23 +1,15 @@ #include "Pixy.h" -Pixy::Pixy(Pixy::LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk) + +Pixy::Pixy(PinName mosi_sda_tx, PinName miso_scl_rx) { - switch (linkType) { - case SPI: - m_link = new PixyLinkSPI(mosi_sda_tx, miso_scl_rx, sclk); - break; - case I2C: - m_link = new PixyLinkI2C(mosi_sda_tx, miso_scl_rx); - break; - case UART: - m_link = new PixyLinkUART(mosi_sda_tx, miso_scl_rx); - break; - }; + m_link = new PixyLinkI2C(mosi_sda_tx, miso_scl_rx); pc = 0; skipStart = false; blockCount = 0; blockArraySize = PIXY_INITIAL_ARRAYSIZE; blocks = new Block[blockArraySize]; + } Pixy::~Pixy() @@ -42,8 +34,8 @@ checksum = m_link->getWord(); if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame skipStart = true; - //if (pc) - // pc->printf("skip\n\r"); + // if (pc) + // pc->printf("skip\n\r"); return blockCount; } else if (checksum == 0) return blockCount; @@ -59,8 +51,10 @@ *((uint16_t *)block + i) = w; } - if (checksum == sum) + if (checksum == sum){ blockCount++; + //w = m_link->getWord(); + } else if (pc) pc->printf("cs error\n\r"); @@ -71,18 +65,6 @@ return blockCount; } -int8_t Pixy::setServos(uint16_t s0, uint16_t s1) -{ - uint8_t outBuf[6]; - - outBuf[0] = 0x00; - outBuf[1] = 0xff; - *(uint16_t *)(outBuf + 2) = s0; - *(uint16_t *)(outBuf + 4) = s1; - - return m_link->send(outBuf, 6); -} - void Pixy::setAddress(uint8_t addr) { m_link->setAddress(addr);