jetfishteam / pixy_cam

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Dependents:   robotic_fish_ver_4_9_pixy UMO

pixy.h@5:f54759b26096, 2014-06-05 (annotated)

Committer:
sandwich
Date:
Thu Jun 05 00:12:48 2014 +0000
Revision:
5:f54759b26096
Parent:
4:440e747935db
Child:
6:4bf8d39fc5ce
-switched to rtos to facilitate better threading; -integrated pixycam and there are now 2 operating modes; -pixycam tracking feedback isn't tuned yet. Currently using proportional controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:1b99a0bee9e0 1 #pragma once
sandwich 0:1b99a0bee9e0 2 #include "mbed.h"
sandwich 0:1b99a0bee9e0 3
sandwich 2:fc86438b206f 4 #define INVALID_BLOCK 20
sandwich 4:440e747935db 5 #define CENTER_X 320
sandwich 4:440e747935db 6 #define CENTER_Y 200
sandwich 5:f54759b26096 7 #define NUM_BLOCKS 10
sandwich 0:1b99a0bee9e0 8 //a class to aid in SPI communication with the pixy camera
sandwich 0:1b99a0bee9e0 9
sandwich 0:1b99a0bee9e0 10 //this details the object block format of returned data as described in
sandwich 0:1b99a0bee9e0 11 //http://www.cmucam.org/projects/cmucam5/wiki/Pixy_Serial_Protocol
sandwich 0:1b99a0bee9e0 12
sandwich 0:1b99a0bee9e0 13 //blatantly stole this from their code
sandwich 0:1b99a0bee9e0 14 struct Block
sandwich 0:1b99a0bee9e0 15 {
sandwich 0:1b99a0bee9e0 16 uint16_t signature;
sandwich 0:1b99a0bee9e0 17 uint16_t x;
sandwich 0:1b99a0bee9e0 18 uint16_t y;
sandwich 0:1b99a0bee9e0 19 uint16_t width;
sandwich 0:1b99a0bee9e0 20 uint16_t height;
sandwich 0:1b99a0bee9e0 21 };
sandwich 0:1b99a0bee9e0 22
sandwich 0:1b99a0bee9e0 23 class pixySPI
sandwich 0:1b99a0bee9e0 24 {
sandwich 0:1b99a0bee9e0 25 private:
sandwich 5:f54759b26096 26 SPI spi;
sandwich 0:1b99a0bee9e0 27 //SPI spi(p5, p6, p7); // mosi, miso, sclk
sandwich 0:1b99a0bee9e0 28 short sync; //the block signature. 16 bits
sandwich 0:1b99a0bee9e0 29 short readTwoBytesLSB();
sandwich 0:1b99a0bee9e0 30 void readNBytes(char* buf, int num);
sandwich 5:f54759b26096 31 Block blocks[NUM_BLOCKS]; //where the blocks are stored
sandwich 2:fc86438b206f 32 int numBlocks; //amt
sandwich 5:f54759b26096 33 int bestX;
sandwich 5:f54759b26096 34 int bestY;
sandwich 0:1b99a0bee9e0 35 public:
sandwich 5:f54759b26096 36 pixySPI(PinName mosi,PinName miso,PinName sclk, int nBlocks);
sandwich 0:1b99a0bee9e0 37 ~pixySPI();
sandwich 2:fc86438b206f 38 void capture(); //fills in the blocks pointer
sandwich 0:1b99a0bee9e0 39 char getRawData();
sandwich 2:fc86438b206f 40 Block* getBlocks();
sandwich 2:fc86438b206f 41 int getNumBlocks();
sandwich 5:f54759b26096 42 int getBestX();
sandwich 5:f54759b26096 43 int getBestY();
sandwich 0:1b99a0bee9e0 44 };