Mechatronics Robotics / Mbed 2 deprecated BrobotV1

These are the core files for the Robot at Team conception.

Dependencies:   mbed UniServ

Pixy.cpp@0:eba74e7a229b, 2017-05-26 (annotated)

Committer:
obrie829
Date:
Fri May 26 07:40:48 2017 +0000
Revision:
0:eba74e7a229b
Child:
1:ff0674b96cc5
This is the first version committed to team Brobot and should have all header and class files contained within

Who changed what in which revision?

UserRevisionLine numberNew contents of line
obrie829 0:eba74e7a229b 1
obrie829 0:eba74e7a229b 2 #include "Pixy.h"
obrie829 0:eba74e7a229b 3
obrie829 0:eba74e7a229b 4 Pixy::Pixy(Serial& _cam) : cam(_cam)
obrie829 0:eba74e7a229b 5 {
obrie829 0:eba74e7a229b 6 //cam.baud( 230400 );
obrie829 0:eba74e7a229b 7 cam.baud( 460800 );
obrie829 0:eba74e7a229b 8 cam.attach(this, &Pixy::rxCallback, Serial::RxIrq);
obrie829 0:eba74e7a229b 9 }
obrie829 0:eba74e7a229b 10
obrie829 0:eba74e7a229b 11
obrie829 0:eba74e7a229b 12 // This function is called when a character goes into the RX buffer.
obrie829 0:eba74e7a229b 13 void Pixy::rxCallback()
obrie829 0:eba74e7a229b 14 {
obrie829 0:eba74e7a229b 15 static const int buffersize = 256;
obrie829 0:eba74e7a229b 16 static int detects = 0;
obrie829 0:eba74e7a229b 17 static int startPoint = 0;
obrie829 0:eba74e7a229b 18 static uint8_t buffer[buffersize] = {};
obrie829 0:eba74e7a229b 19 static bool startFound = false;
obrie829 0:eba74e7a229b 20 static int ii = 1;
obrie829 0:eba74e7a229b 21
obrie829 0:eba74e7a229b 22 while( cam.readable() ) {
obrie829 0:eba74e7a229b 23 buffer[ii] = cam.getc();
obrie829 0:eba74e7a229b 24 if( buffer[ii-1] == 85 && (buffer[ii] == 170 ) ) {
obrie829 0:eba74e7a229b 25 startPoint = ii-1;
obrie829 0:eba74e7a229b 26
obrie829 0:eba74e7a229b 27 //check if detection was on the edge of buffer. Skip package if so.
obrie829 0:eba74e7a229b 28 if( ii<(buffersize-14))
obrie829 0:eba74e7a229b 29 startFound = true;
obrie829 0:eba74e7a229b 30 else
obrie829 0:eba74e7a229b 31 ii = 1;
obrie829 0:eba74e7a229b 32
obrie829 0:eba74e7a229b 33 detects++;
obrie829 0:eba74e7a229b 34 }
obrie829 0:eba74e7a229b 35 ++ii;
obrie829 0:eba74e7a229b 36
obrie829 0:eba74e7a229b 37 //reset ii
obrie829 0:eba74e7a229b 38 if( ii>=(buffersize-1))
obrie829 0:eba74e7a229b 39 ii = 1;
obrie829 0:eba74e7a229b 40 }
obrie829 0:eba74e7a229b 41
obrie829 0:eba74e7a229b 42 //start not found, reset ii to 1
obrie829 0:eba74e7a229b 43 if( !startFound && ii >= 3 || ii >= (buffersize-1)) {
obrie829 0:eba74e7a229b 44 ii = 1;
obrie829 0:eba74e7a229b 45 return;
obrie829 0:eba74e7a229b 46 }
obrie829 0:eba74e7a229b 47
obrie829 0:eba74e7a229b 48 //start is found but not enough bytes received - return
obrie829 0:eba74e7a229b 49 if( (ii-startPoint) <= 13 )
obrie829 0:eba74e7a229b 50 return;
obrie829 0:eba74e7a229b 51
obrie829 0:eba74e7a229b 52 //copy memory to pixy struct
obrie829 0:eba74e7a229b 53 memcpy( &pixy, buffer + startPoint+2, 12);
obrie829 0:eba74e7a229b 54
obrie829 0:eba74e7a229b 55 //reset variables
obrie829 0:eba74e7a229b 56 startFound = false;
obrie829 0:eba74e7a229b 57 ii = 1;
obrie829 0:eba74e7a229b 58 }
obrie829 0:eba74e7a229b 59
obrie829 0:eba74e7a229b 60 int Pixy::getX()
obrie829 0:eba74e7a229b 61 {
obrie829 0:eba74e7a229b 62 return pixy.x;
obrie829 0:eba74e7a229b 63 }
obrie829 0:eba74e7a229b 64
obrie829 0:eba74e7a229b 65 int Pixy::getY()
obrie829 0:eba74e7a229b 66 {
obrie829 0:eba74e7a229b 67 return pixy.y;
obrie829 0:eba74e7a229b 68 }
obrie829 0:eba74e7a229b 69
obrie829 0:eba74e7a229b 70 int Pixy::getSignature()
obrie829 0:eba74e7a229b 71 {
obrie829 0:eba74e7a229b 72 return pixy.signature;
obrie829 0:eba74e7a229b 73 }
obrie829 0:eba74e7a229b 74