Diff: Pixy.h

Revision:

0:ed8dc4531ac1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pixy.h	Sun Nov 16 11:52:55 2014 +0000
@@ -0,0 +1,50 @@
+#ifndef TUIASI_PIXY_H
+#define TUIASI_PIXY_H
+
+#include "mbed.h"
+#include "PixyLinkSPI.h"
+#include "PixyLinkI2C.h"
+#include "PixyLinkUART.h"
+
+struct Block {
+    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;
+    uint16_t x;
+    uint16_t y;
+    uint16_t width;
+    uint16_t height;
+};
+
+class Pixy
+{
+public:
+    enum LinkType {SPI, I2C, UART};
+    Pixy(LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk = NC);
+    ~Pixy();
+    uint16_t getBlocks(uint16_t maxBlocks=1000);
+    int8_t setServos(uint16_t s0, uint16_t s1);
+    void setAddress(uint8_t addr);
+    void setSerialOutput(Serial *pc);
+
+    Block *blocks;
+
+private:
+    static const uint8_t PIXY_INITIAL_ARRAYSIZE = 30;
+    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
+
+    bool getStart();
+    void resize();
+
+    bool skipStart;
+    uint16_t blockCount;
+    uint16_t blockArraySize;
+
+    PixyLink *m_link;
+    Serial *pc;
+};
+#endif //TUIASI_PIXY_H
\ No newline at end of file