Lucas Moreira / pixy

This code just added an algorithm to calculate angle form the pixy center

Dependents:   pixyHelloWorld2_copy_servoTest pixy_pan_tilt Servo_camera_pan Camera_Gimbal_Tracking

Fork of pixy by Arcadie Cracan

Pixy.h@1:f8b6497870d3, 2015-06-18 (annotated)

Committer:
LucasUIUC
Date:
Thu Jun 18 05:28:57 2015 +0000
Revision:
1:f8b6497870d3
Parent:
0:ed8dc4531ac1
Child:
2:a58a6a71ae7b
This code only has added a angle calculation which is showed together with the others block parameters.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
acracan 0:ed8dc4531ac1 1 #ifndef TUIASI_PIXY_H
acracan 0:ed8dc4531ac1 2 #define TUIASI_PIXY_H
acracan 0:ed8dc4531ac1 3
acracan 0:ed8dc4531ac1 4 #include "mbed.h"
acracan 0:ed8dc4531ac1 5 #include "PixyLinkSPI.h"
acracan 0:ed8dc4531ac1 6 #include "PixyLinkI2C.h"
acracan 0:ed8dc4531ac1 7 #include "PixyLinkUART.h"
acracan 0:ed8dc4531ac1 8
acracan 0:ed8dc4531ac1 9 struct Block {
acracan 0:ed8dc4531ac1 10 void print(Serial &pc) {
LucasUIUC 1:f8b6497870d3 11 float angle;
LucasUIUC 1:f8b6497870d3 12 angle = (float)(160 - x)*9/32;
LucasUIUC 1:f8b6497870d3 13 pc.printf("sig: %d x: %d y: %d width: %d height: %d angle: %f\n", signature, x, y, width, height, angle);
acracan 0:ed8dc4531ac1 14 };
acracan 0:ed8dc4531ac1 15 uint16_t signature;
acracan 0:ed8dc4531ac1 16 uint16_t x;
acracan 0:ed8dc4531ac1 17 uint16_t y;
acracan 0:ed8dc4531ac1 18 uint16_t width;
acracan 0:ed8dc4531ac1 19 uint16_t height;
acracan 0:ed8dc4531ac1 20 };
acracan 0:ed8dc4531ac1 21
acracan 0:ed8dc4531ac1 22 class Pixy
acracan 0:ed8dc4531ac1 23 {
acracan 0:ed8dc4531ac1 24 public:
acracan 0:ed8dc4531ac1 25 enum LinkType {SPI, I2C, UART};
acracan 0:ed8dc4531ac1 26 Pixy(LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk = NC);
acracan 0:ed8dc4531ac1 27 ~Pixy();
acracan 0:ed8dc4531ac1 28 uint16_t getBlocks(uint16_t maxBlocks=1000);
acracan 0:ed8dc4531ac1 29 int8_t setServos(uint16_t s0, uint16_t s1);
acracan 0:ed8dc4531ac1 30 void setAddress(uint8_t addr);
acracan 0:ed8dc4531ac1 31 void setSerialOutput(Serial *pc);
acracan 0:ed8dc4531ac1 32
acracan 0:ed8dc4531ac1 33 Block *blocks;
acracan 0:ed8dc4531ac1 34
acracan 0:ed8dc4531ac1 35 private:
acracan 0:ed8dc4531ac1 36 static const uint8_t PIXY_INITIAL_ARRAYSIZE = 30;
acracan 0:ed8dc4531ac1 37 static const uint8_t PIXY_MAXIMUM_ARRAYSIZE = 130;
acracan 0:ed8dc4531ac1 38 static const uint16_t PIXY_START_WORD = 0xaa55;
acracan 0:ed8dc4531ac1 39 static const uint16_t PIXY_START_WORDX = 0x55aa;
acracan 0:ed8dc4531ac1 40 static const uint8_t PIXY_DEFAULT_ADDR = 0x54; // I2C
acracan 0:ed8dc4531ac1 41
acracan 0:ed8dc4531ac1 42 bool getStart();
acracan 0:ed8dc4531ac1 43 void resize();
acracan 0:ed8dc4531ac1 44
acracan 0:ed8dc4531ac1 45 bool skipStart;
acracan 0:ed8dc4531ac1 46 uint16_t blockCount;
acracan 0:ed8dc4531ac1 47 uint16_t blockArraySize;
acracan 0:ed8dc4531ac1 48
acracan 0:ed8dc4531ac1 49 PixyLink *m_link;
acracan 0:ed8dc4531ac1 50 Serial *pc;
acracan 0:ed8dc4531ac1 51 };
acracan 0:ed8dc4531ac1 52 #endif //TUIASI_PIXY_H