c
Dependencies: Servo ServoArm mbed
Fork of PES_PIXY_Official by
Headers/Pixy.h@0:15a8480061e8, 2017-05-22 (annotated)
- Committer:
- beacon
- Date:
- Mon May 22 11:24:46 2017 +0000
- Revision:
- 0:15a8480061e8
o
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
beacon | 0:15a8480061e8 | 1 | #ifndef PIXY_H |
beacon | 0:15a8480061e8 | 2 | #define PIXY_H |
beacon | 0:15a8480061e8 | 3 | #include <mbed.h> |
beacon | 0:15a8480061e8 | 4 | |
beacon | 0:15a8480061e8 | 5 | class Pixy |
beacon | 0:15a8480061e8 | 6 | { |
beacon | 0:15a8480061e8 | 7 | public: |
beacon | 0:15a8480061e8 | 8 | Pixy(Serial& cam); |
beacon | 0:15a8480061e8 | 9 | |
beacon | 0:15a8480061e8 | 10 | struct pixy_s { |
beacon | 0:15a8480061e8 | 11 | uint16_t checksum; |
beacon | 0:15a8480061e8 | 12 | uint16_t signature; |
beacon | 0:15a8480061e8 | 13 | uint16_t x; |
beacon | 0:15a8480061e8 | 14 | uint16_t y; |
beacon | 0:15a8480061e8 | 15 | uint16_t width; |
beacon | 0:15a8480061e8 | 16 | uint16_t height; |
beacon | 0:15a8480061e8 | 17 | }; |
beacon | 0:15a8480061e8 | 18 | |
beacon | 0:15a8480061e8 | 19 | //returns the X coordinates of the found object in image space |
beacon | 0:15a8480061e8 | 20 | int getX(); |
beacon | 0:15a8480061e8 | 21 | int getY(); |
beacon | 0:15a8480061e8 | 22 | int getSignature(); |
beacon | 0:15a8480061e8 | 23 | int getDetects(); |
beacon | 0:15a8480061e8 | 24 | |
beacon | 0:15a8480061e8 | 25 | private: |
beacon | 0:15a8480061e8 | 26 | bool startFound; |
beacon | 0:15a8480061e8 | 27 | void rxCallback(); |
beacon | 0:15a8480061e8 | 28 | int detects; |
beacon | 0:15a8480061e8 | 29 | Serial& cam; |
beacon | 0:15a8480061e8 | 30 | pixy_s pixy; |
beacon | 0:15a8480061e8 | 31 | }; |
beacon | 0:15a8480061e8 | 32 | |
beacon | 0:15a8480061e8 | 33 | #endif |