Quadrifoglio / camera

高木のpixy2

Dependents:   00_yotsuba 10_motor-test 00_yotsuba 200_yotsuba_21

camera.h@1:91c45dda6be1, 2021-03-04 (annotated)

Committer:
THtakahiro702286
Date:
Thu Mar 04 14:20:55 2021 +0000
Revision:
1:91c45dda6be1
Parent:
0:12ef615ee47f 
out raw

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:12ef615ee47f 1 #ifndef CAMERA_H
THtakahiro702286 0:12ef615ee47f 2 #define CAMERA_H
THtakahiro702286 0:12ef615ee47f 3
THtakahiro702286 0:12ef615ee47f 4 #include "mbed.h"
THtakahiro702286 0:12ef615ee47f 5 #include "lpf.h"
THtakahiro702286 0:12ef615ee47f 6
THtakahiro702286 0:12ef615ee47f 7 class Cam
THtakahiro702286 0:12ef615ee47f 8 {
THtakahiro702286 0:12ef615ee47f 9 public:
THtakahiro702286 0:12ef615ee47f 10 Cam(PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk);
THtakahiro702286 0:12ef615ee47f 11 void SPIloop();
THtakahiro702286 0:12ef615ee47f 12
THtakahiro702286 0:12ef615ee47f 13 uint16_t ballX();
THtakahiro702286 0:12ef615ee47f 14 uint16_t ballY();
THtakahiro702286 0:12ef615ee47f 15 uint16_t ballWidth();
THtakahiro702286 0:12ef615ee47f 16 uint16_t ballHeight();
THtakahiro702286 0:12ef615ee47f 17
THtakahiro702286 0:12ef615ee47f 18 uint16_t blueX();
THtakahiro702286 0:12ef615ee47f 19 uint16_t blueY();
THtakahiro702286 0:12ef615ee47f 20 uint16_t blueWidth();
THtakahiro702286 0:12ef615ee47f 21 uint16_t blueHeight();
THtakahiro702286 0:12ef615ee47f 22
THtakahiro702286 0:12ef615ee47f 23 uint16_t yellowX();
THtakahiro702286 0:12ef615ee47f 24 uint16_t yellowY();
THtakahiro702286 0:12ef615ee47f 25 uint16_t yellowWidth();
THtakahiro702286 0:12ef615ee47f 26 uint16_t yellowHeight();
THtakahiro702286 0:12ef615ee47f 27
THtakahiro702286 0:12ef615ee47f 28 uint16_t getData(int i);
THtakahiro702286 1:91c45dda6be1 29 // uint16_t rawBallCenterX();
THtakahiro702286 1:91c45dda6be1 30 // uint16_t rawBallCenterY();
THtakahiro702286 1:91c45dda6be1 31 // uint16_t rawBallWidth();
THtakahiro702286 1:91c45dda6be1 32 // uint16_t rawBallHeight();
THtakahiro702286 1:91c45dda6be1 33 // uint16_t rawBlueCenterX();
THtakahiro702286 1:91c45dda6be1 34 // uint16_t rawBlueCenterY();
THtakahiro702286 1:91c45dda6be1 35 // uint16_t rawBlueWidth();
THtakahiro702286 1:91c45dda6be1 36 // uint16_t rawBlueHeight();
THtakahiro702286 1:91c45dda6be1 37 // uint16_t rawYellowCenterX();
THtakahiro702286 1:91c45dda6be1 38 // uint16_t rawYellowCenterY();
THtakahiro702286 1:91c45dda6be1 39 // uint16_t rawYellowWidth();
THtakahiro702286 1:91c45dda6be1 40 // uint16_t rawYellowHeight();
THtakahiro702286 0:12ef615ee47f 41
THtakahiro702286 0:12ef615ee47f 42 bool ballSignal();
THtakahiro702286 0:12ef615ee47f 43 bool blueSignal();
THtakahiro702286 0:12ef615ee47f 44 bool yellowSignal();
THtakahiro702286 0:12ef615ee47f 45
THtakahiro702286 0:12ef615ee47f 46 uint8_t pixydata[14+42];
THtakahiro702286 0:12ef615ee47f 47 private:
THtakahiro702286 0:12ef615ee47f 48 SPI spi;
THtakahiro702286 0:12ef615ee47f 49 Thread thread;
THtakahiro702286 0:12ef615ee47f 50 uint8_t sendData[6];
THtakahiro702286 0:12ef615ee47f 51 uint16_t data[24];
THtakahiro702286 0:12ef615ee47f 52 uint16_t ballData[7];
THtakahiro702286 0:12ef615ee47f 53 uint16_t blueData[7];
THtakahiro702286 0:12ef615ee47f 54 uint16_t yellowData[7];
THtakahiro702286 0:12ef615ee47f 55 bool ballSig,blueSig,yellowSig;
THtakahiro702286 0:12ef615ee47f 56 lpf *ball[4],*blue[4],*yellow[4];
THtakahiro702286 0:12ef615ee47f 57 };
THtakahiro702286 0:12ef615ee47f 58 #endif