Revision 2:c3a866b20784, committed 2017-05-17

Comitter:

ZHAW_Prometheus

Date:

Wed May 17 07:37:43 2017 +0000

Parent:

0:a2603d7fa0ac

Commit message:

Vers. 17.05.2017

Changed in this revision

--- 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

--- a/Pixy.h	Fri May 05 12:03:13 2017 +0000
+++ b/Pixy.h	Wed May 17 07:37:43 2017 +0000
@@ -1,13 +1,11 @@
-#ifndef TUIASI_PIXY_H
-#define TUIASI_PIXY_H
+#ifndef PIXY_H
+#define PIXY_H
 
 #include "mbed.h"
-//#include "PixyLinkSPI.h"
 #include "PixyLinkI2C.h"
-//#include "PixyLinkUART.h"
 
 struct Block {
-    void print(Serial &pc) {
+   void print(Serial &pc) {
         pc.printf("sig: %d x: %d y: %d width: %d height: %d\n", signature, x, y, width, height);
     };
     uint16_t signature;
@@ -20,8 +18,7 @@
 class Pixy
 {
 public:
-    enum LinkType {SPI, I2C, UART};
-    Pixy(LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk = NC);
+    Pixy(PinName mosi_sda_tx, PinName miso_scl_rx);
     ~Pixy();
     uint16_t getBlocks(uint16_t maxBlocks=1000);
     int8_t setServos(uint16_t s0, uint16_t s1);
@@ -35,7 +32,7 @@
     static const uint8_t PIXY_MAXIMUM_ARRAYSIZE = 130;
     static const uint16_t PIXY_START_WORD = 0xaa55;
     static const uint16_t PIXY_START_WORDX = 0x55aa;
-    static const uint8_t PIXY_DEFAULT_ADDR = 0x54;  // I2C
+    static const uint8_t PIXY_DEFAULT_ADDR = 0xAC;  // I2C Adresse
 
     bool getStart();
     void resize();
@@ -47,4 +44,4 @@
     PixyLink *m_link;
     Serial *pc;
 };
-#endif //TUIASI_PIXY_H
+#endif //PIXY_H
\ No newline at end of file

--- a/PixyLink.h	Fri May 05 12:03:13 2017 +0000
+++ b/PixyLink.h	Wed May 17 07:37:43 2017 +0000
@@ -1,5 +1,5 @@
-#ifndef TUIASI_PIXYLINK_H
-#define TUIASI_PIXYLINK_H
+#ifndef PIXYLINK_H
+#define PIXYLINK_H
 
 #include "stdint.h"
 
@@ -14,9 +14,8 @@
     virtual uint16_t getWord() = 0;
     virtual uint8_t getByte() = 0;
     virtual int8_t send(uint8_t *data, uint8_t len) = 0;
-
 protected:
     uint8_t m_addr;
 };
 
-#endif //TUIASI_PIXYLINK_H
+#endif //PIXYLINK_H
\ No newline at end of file

--- a/PixyLinkI2C.h	Fri May 05 12:03:13 2017 +0000
+++ b/PixyLinkI2C.h	Wed May 17 07:37:43 2017 +0000
@@ -1,5 +1,5 @@
-#ifndef TUIASI_PIXYLINKI2C_H
-#define TUIASI_PIXYLINKI2C_H
+#ifndef PIXYLINKI2C_H
+#define PIXYLINKI2C_H
 
 #include "I2C.h"
 #include "PixyLink.h"
@@ -8,8 +8,9 @@
 {
 public:
     PixyLinkI2C(PinName sda, PinName scl) :
-        PixyLink(PIXY_DEFAULT_ADDR), I2C(sda, scl) {
-    };
+        PixyLink(PIXY_DEFAULT_ADDR), I2C(sda, scl){
+            I2C::frequency(100000);
+            };
 
     virtual uint16_t getWord() {
         uint8_t data[2] = {0, 0};
@@ -29,7 +30,7 @@
 
 
 private:
-    static const uint8_t PIXY_DEFAULT_ADDR = 0x54;
+    static const uint8_t PIXY_DEFAULT_ADDR = 0xAC;
 };
 
-#endif //TUIASI_PIXYLINKI2C_H
+#endif //PIXYLINKI2C_H
\ No newline at end of file