jetfishteam / pixy_cam

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Dependents:   robotic_fish_ver_4_9_pixy UMO

pixy.h@0:1b99a0bee9e0, 2014-06-02 (annotated)

Committer:
sandwich
Date:
Mon Jun 02 21:02:09 2014 +0000
Revision:
0:1b99a0bee9e0
Child:
1:439c7574a5ee
tracks a single object currently

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 0:1b99a0bee9e0 4 //a class to aid in SPI communication with the pixy camera
sandwich 0:1b99a0bee9e0 5
sandwich 0:1b99a0bee9e0 6 //this details the object block format of returned data as described in
sandwich 0:1b99a0bee9e0 7 //http://www.cmucam.org/projects/cmucam5/wiki/Pixy_Serial_Protocol
sandwich 0:1b99a0bee9e0 8
sandwich 0:1b99a0bee9e0 9 struct objectBlock {
sandwich 0:1b99a0bee9e0 10 short sync; //spi sync data
sandwich 0:1b99a0bee9e0 11 short checksum; //the sum of everything BELOW this
sandwich 0:1b99a0bee9e0 12 short signature; //signature number of detection
sandwich 0:1b99a0bee9e0 13 short xcenter; //x center pixrl position of block
sandwich 0:1b99a0bee9e0 14 short ycenter; //y center pixel position of block
sandwich 0:1b99a0bee9e0 15 short width; //width of detection in pixels
sandwich 0:1b99a0bee9e0 16 short height; //height of detection in pixels
sandwich 0:1b99a0bee9e0 17 };
sandwich 0:1b99a0bee9e0 18
sandwich 0:1b99a0bee9e0 19 //blatantly stole this from their code
sandwich 0:1b99a0bee9e0 20 struct Block
sandwich 0:1b99a0bee9e0 21 {
sandwich 0:1b99a0bee9e0 22 uint16_t signature;
sandwich 0:1b99a0bee9e0 23 uint16_t x;
sandwich 0:1b99a0bee9e0 24 uint16_t y;
sandwich 0:1b99a0bee9e0 25 uint16_t width;
sandwich 0:1b99a0bee9e0 26 uint16_t height;
sandwich 0:1b99a0bee9e0 27 };
sandwich 0:1b99a0bee9e0 28
sandwich 0:1b99a0bee9e0 29 class pixySPI
sandwich 0:1b99a0bee9e0 30 {
sandwich 0:1b99a0bee9e0 31 private:
sandwich 0:1b99a0bee9e0 32 SPI* spi;
sandwich 0:1b99a0bee9e0 33 Serial* debug;
sandwich 0:1b99a0bee9e0 34 //SPI spi(p5, p6, p7); // mosi, miso, sclk
sandwich 0:1b99a0bee9e0 35 short sync; //the block signature. 16 bits
sandwich 0:1b99a0bee9e0 36 short readTwoBytesLSB();
sandwich 0:1b99a0bee9e0 37 void readNBytes(char* buf, int num);
sandwich 0:1b99a0bee9e0 38 public:
sandwich 0:1b99a0bee9e0 39 pixySPI(PinName mosi,PinName miso,PinName sclk, Serial* ser);
sandwich 0:1b99a0bee9e0 40 ~pixySPI();
sandwich 0:1b99a0bee9e0 41 Block getBlock(Serial* debug);
sandwich 0:1b99a0bee9e0 42 char getRawData();
sandwich 0:1b99a0bee9e0 43 };