Diff: Pixy.cpp

Revision:

1:ff0674b96cc5

Parent:

0:eba74e7a229b

Child:

17:ec52258b9472

--- a/Pixy.cpp	Fri May 26 07:40:48 2017 +0000
+++ b/Pixy.cpp	Fri May 26 08:07:24 2017 +0000
@@ -1,74 +1,109 @@
-
 #include "Pixy.h"
-
-Pixy::Pixy(Serial& _cam) : cam(_cam)
+ 
+Pixy::Pixy(Serial& _cam) : cam(_cam), detects(0)
 {
     //cam.baud( 230400 );
     cam.baud( 460800 );
     cam.attach(this, &Pixy::rxCallback, Serial::RxIrq);
 }
-
-
+ 
+ 
 // This function is called when a character goes into the RX buffer.
 void Pixy::rxCallback()
 {
     static const int buffersize = 256;
-    static int detects = 0;
     static int startPoint = 0;
     static uint8_t buffer[buffersize] = {};
     static bool startFound = false;
     static int ii = 1;
-
+ 
     while( cam.readable() ) {
         buffer[ii] = cam.getc();
         if( buffer[ii-1] == 85  && (buffer[ii] == 170 )  ) {
             startPoint = ii-1;
-
+ 
             //check if detection was on the edge of buffer. Skip package if so.
             if( ii<(buffersize-14))
                 startFound = true;
             else
                 ii = 1;
-                
+ 
             detects++;
         }
         ++ii;
-
+ 
         //reset ii
         if( ii>=(buffersize-1))
             ii = 1;
     }
-
+ 
     //start not found, reset ii to 1
     if( !startFound && ii >= 3 || ii >= (buffersize-1)) {
         ii = 1;
         return;
     }
-
+ 
     //start is found but not enough bytes received - return
     if( (ii-startPoint) <= 13 )
         return;
-
+ 
     //copy memory to pixy struct
     memcpy( &pixy, buffer + startPoint+2, 12);
-
+ 
     //reset variables
     startFound = false;
     ii = 1;
 }
-
-int Pixy::getX()
+ 
+/**
+returns the width of the detected object
+**/
+int Pixy::getWidth(  )
+{
+    return pixy.width;
+}
+ 
+/**
+returns the height of the detected object
+**/
+int Pixy::getHeight(  )
+{
+    return pixy.height;
+}
+ 
+/**
+returns the Y coordinates in respect to the pixy recorded image
+**/
+int Pixy::getY( )
+{
+    return pixy.y;
+}
+ 
+/**
+returns the Y coordinates in respect to the pixy recorded image
+**/
+int Pixy::getX(  )
 {
     return pixy.x;
 }
-
-int Pixy::getY()
-{
-    return pixy.y;
-}
-
+ 
+ 
+/**
+returns the signature of the detected object
+**/
 int Pixy::getSignature()
 {
     return pixy.signature;
 }
-
+ 
+/**
+returns 1 if an object has detectd
+**/
+bool Pixy::objectDetected()
+{
+    bool ret = false;
+    static int oldDetection = 0;
+    ret = (detects != oldDetection);
+    oldDetection = detects;
+    return ret;
+}
\ No newline at end of file