Revision 1:910d941e3cc2, committed 2015-03-12

Comitter:

CheeseW

Date:

Thu Mar 12 08:15:07 2015 +0000

Parent:

0:ed8dc4531ac1

Commit message:

Minor modification to the original code

Changed in this revision

diff -r ed8dc4531ac1 -r 910d941e3cc2 Pixy.cpp
--- a/Pixy.cpp	Sun Nov 16 11:52:55 2014 +0000
+++ b/Pixy.cpp	Thu Mar 12 08:15:07 2015 +0000
@@ -30,14 +30,17 @@
 {
     uint8_t i;
     uint16_t w, checksum, sum;
-    Block *block;
+    //Block *block;
 
     if (!skipStart) {
         if (getStart() == false)
             return 0;
     } else
         skipStart = false;
-
+  for (int i = 0; i < PIXY_INITIAL_ARRAYSIZE; i++)
+        {
+            blocks[i].width = 0;
+            }
     for (blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) {
         checksum = m_link->getWord();
         if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame
@@ -48,19 +51,26 @@
         } else if (checksum == 0)
             return blockCount;
 
-        if (blockCount > blockArraySize)
-            resize();
-
-        block = blocks + blockCount;
-
-        for (i = 0, sum = 0; i < sizeof(Block) / sizeof(uint16_t); i++) {
-            w = m_link->getWord();
-            sum += w;
-            *((uint16_t *)block + i) = w;
-        }
+        //if (blockCount > blockArraySize)
+            //resize();
+      
+        //block = blocks + blockCount;
+        uint16_t signature = m_link->getWord();
+        uint16_t x = m_link->getWord();
+        uint16_t y = m_link->getWord();
+        uint16_t width = m_link->getWord();
+        uint16_t height = m_link->getWord();
+        
+        sum = signature + x +y + width + height;
 
         if (checksum == sum)
+        {
+            blocks[signature-1].x = x;
+            blocks[signature-1].y = y;
+            blocks[signature-1].width = width;
+            blocks[signature-1].height = height;
             blockCount++;
+        }
         else if (pc)
             pc->printf("cs error\n\r");
 

diff -r ed8dc4531ac1 -r 910d941e3cc2 Pixy.h
--- a/Pixy.h	Sun Nov 16 11:52:55 2014 +0000
+++ b/Pixy.h	Thu Mar 12 08:15:07 2015 +0000
@@ -8,9 +8,10 @@
 
 struct Block {
     void print(Serial &pc) {
-        pc.printf("sig: %d x: %d y: %d width: %d height: %d\n", signature, x, y, width, height);
+        //pc.printf("sig: %d x: %d y: %d width: %d height: %d\n", signature, x, y, width, height);
+        pc.printf(" x: %d y: %d width: %d height: %d\n",  x, y, width, height);
     };
-    uint16_t signature;
+    //uint16_t signature;
     uint16_t x;
     uint16_t y;
     uint16_t width;
@@ -31,7 +32,7 @@
     Block *blocks;
 
 private:
-    static const uint8_t PIXY_INITIAL_ARRAYSIZE = 30;
+    static const uint8_t PIXY_INITIAL_ARRAYSIZE = 7;
     static const uint8_t PIXY_MAXIMUM_ARRAYSIZE = 130;
     static const uint16_t PIXY_START_WORD = 0xaa55;
     static const uint16_t PIXY_START_WORDX = 0x55aa;