Diff: main.cpp

Revision:

5:46c1400c2ac4

Parent:

4:f65b0905e4ce

--- a/main.cpp	Wed May 31 10:10:56 2017 +0000
+++ b/main.cpp	Fri Jun 09 01:44:37 2017 +0000
@@ -396,7 +396,7 @@
 
 int main()
 {
-
+    int i = 0, val_H_balle = 0, val_W_balle=0, max_val_W_balle = 0, indice_balle = 0, val_carre_balle=0, val_x_balle=0;
     int         I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, MOTG_check = -1, MOTD_check = -1*/;
     
     Byte        PIXY_rCCObjet = 0, PIXY_rNMObjet = 0;
@@ -737,9 +737,42 @@
                             if (PIXY_rCCObjet<19)   PIXY_rCCObjet++;
                             else                    PIXY_rCCObjet = 0;
                         }
+                        val_W_balle = 0;
+                        val_H_balle = 0;
+                        val_carre_balle = 0;
+                        max_val_W_balle = 0;
+                        indice_balle = 0;
+                        for(i=0;i<14;i++){
+                            val_W_balle=Pixy_NMFIFO[i].NMbloc.width;
+                            val_H_balle=Pixy_NMFIFO[i].NMbloc.height;
+                            
+                            val_carre_balle = val_H_balle/val_W_balle;
+                            
+                            val_x_balle =Pixy_NMFIFO[i].NMbloc.x;
+                            
+                            
+                                if(val_W_balle>max_val_W_balle){
+                                max_val_W_balle=val_W_balle;
+                                indice_balle=i;
+                                if(val_x_balle>130 && val_x_balle<170){
+                                    En = 1;
+                                    SensG=0;
+                                    SensD=1;
+                                    Pwm_MG=0.5;
+                                    Pwm_MD=0.5;
+                                    }
+                                else{
+                                    En = 0;
+                                    }
+                                
+                                }
+                        }
+Pc.printf("\rNMobj sig = %hd : X=%5hd,Y=%5hd (W=%5hd, H=%5hd)\n",Pixy_NMFIFO[indice_balle].NMbloc.signature,Pixy_NMFIFO[indice_balle].NMbloc.x,Pixy_NMFIFO[indice_balle].NMbloc.y,Pixy_NMFIFO[indice_balle].NMbloc.width,Pixy_NMFIFO[indice_balle].NMbloc.height);
+
                         Pixy_CCObjet = 0;
                         Pc.printf("\n\r");
                         FlagPixy = 0;
+                        wait_ms(500);
                     }
 
                     if (FlagTickLed) {