Diff: Pixy.cpp

Revision:

2:c3a866b20784

Parent:

0:a2603d7fa0ac

--- a/Pixy.cpp	Fri May 05 12:03:13 2017 +0000
+++ b/Pixy.cpp	Wed May 17 07:37:43 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()
@@ -42,11 +34,11 @@
         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;
+            return blockCount; // Made by Renske
 
         if (blockCount > blockArraySize)
             resize();
@@ -59,10 +51,12 @@
             *((uint16_t *)block + i) = w;
         }
 
-        if (checksum == sum)
+        if (checksum == sum){
             blockCount++;
-        else if (pc)
-            pc->printf("cs error\n\r");
+            //w = m_link->getWord();
+            }
+        else if (pc) {
+            pc->printf("cs error\n\r");}
 
         w = m_link->getWord();
         if (w != PIXY_START_WORD)
@@ -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);
@@ -122,4 +104,4 @@
     memcpy(newBlocks, blocks, sizeof(Block) * blockCount);
     delete[] blocks;
     blocks = newBlocks;
-}
+}
\ No newline at end of file