Ruprecht Altenburger
/
TPixy-Interface
SPI read Pixi Cam V1
TPixy.h@3:66df7d295245, 2016-03-14 (annotated)
- Committer:
- swilkins8
- Date:
- Mon Mar 14 18:53:43 2016 +0000
- Revision:
- 3:66df7d295245
- Parent:
- 2:fa582d9d91b5
- Child:
- 4:478d4d9193a1
Completed comments/documentation for all classes
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
swilkins8 | 0:ef0e3c67dc5b | 1 | // |
swilkins8 | 0:ef0e3c67dc5b | 2 | // begin license header |
swilkins8 | 0:ef0e3c67dc5b | 3 | // |
swilkins8 | 0:ef0e3c67dc5b | 4 | // This file is part of Pixy CMUcam5 or "Pixy" for short |
swilkins8 | 0:ef0e3c67dc5b | 5 | // |
swilkins8 | 0:ef0e3c67dc5b | 6 | // All Pixy source code is provided under the terms of the |
swilkins8 | 0:ef0e3c67dc5b | 7 | // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). |
swilkins8 | 0:ef0e3c67dc5b | 8 | // Those wishing to use Pixy source code, software and/or |
swilkins8 | 0:ef0e3c67dc5b | 9 | // technologies under different licensing terms should contact us at |
swilkins8 | 0:ef0e3c67dc5b | 10 | // cmucam@cs.cmu.edu. Such licensing terms are available for |
swilkins8 | 0:ef0e3c67dc5b | 11 | // all portions of the Pixy codebase presented here. |
swilkins8 | 0:ef0e3c67dc5b | 12 | // |
swilkins8 | 0:ef0e3c67dc5b | 13 | // end license header |
swilkins8 | 0:ef0e3c67dc5b | 14 | // |
swilkins8 | 0:ef0e3c67dc5b | 15 | // This file is for defining the Block struct and the Pixy template class. |
swilkins8 | 0:ef0e3c67dc5b | 16 | // (TPixy). TPixy takes a communication link as a template parameter so that |
swilkins8 | 0:ef0e3c67dc5b | 17 | // all communication modes (SPI, I2C and UART) can share the same code. |
swilkins8 | 0:ef0e3c67dc5b | 18 | // |
swilkins8 | 0:ef0e3c67dc5b | 19 | |
swilkins8 | 0:ef0e3c67dc5b | 20 | #ifndef _TPIXY_H |
swilkins8 | 0:ef0e3c67dc5b | 21 | #define _TPIXY_H |
swilkins8 | 0:ef0e3c67dc5b | 22 | |
swilkins8 | 0:ef0e3c67dc5b | 23 | #include "mbed.h" |
swilkins8 | 0:ef0e3c67dc5b | 24 | #include "TPixyInterface.h" |
swilkins8 | 0:ef0e3c67dc5b | 25 | |
swilkins8 | 0:ef0e3c67dc5b | 26 | // Communication/misc parameters |
swilkins8 | 0:ef0e3c67dc5b | 27 | #define PIXY_INITIAL_ARRAYSIZE 30 |
swilkins8 | 0:ef0e3c67dc5b | 28 | #define PIXY_MAXIMUM_ARRAYSIZE 130 |
swilkins8 | 0:ef0e3c67dc5b | 29 | #define PIXY_START_WORD 0xaa55 |
swilkins8 | 0:ef0e3c67dc5b | 30 | #define PIXY_START_WORD_CC 0xaa56 |
swilkins8 | 0:ef0e3c67dc5b | 31 | #define PIXY_START_WORDX 0x55aa |
swilkins8 | 0:ef0e3c67dc5b | 32 | #define PIXY_MAX_SIGNATURE 7 |
swilkins8 | 0:ef0e3c67dc5b | 33 | #define PIXY_DEFAULT_ARGVAL 0xffff |
swilkins8 | 0:ef0e3c67dc5b | 34 | |
swilkins8 | 0:ef0e3c67dc5b | 35 | // Pixy x-y position values |
swilkins8 | 0:ef0e3c67dc5b | 36 | #define PIXY_MIN_X 0L |
swilkins8 | 0:ef0e3c67dc5b | 37 | #define PIXY_MAX_X 319L |
swilkins8 | 0:ef0e3c67dc5b | 38 | #define PIXY_MIN_Y 0L |
swilkins8 | 0:ef0e3c67dc5b | 39 | #define PIXY_MAX_Y 199L |
swilkins8 | 0:ef0e3c67dc5b | 40 | |
swilkins8 | 0:ef0e3c67dc5b | 41 | // RC-servo values |
swilkins8 | 0:ef0e3c67dc5b | 42 | #define PIXY_RCS_MIN_POS 0L |
swilkins8 | 0:ef0e3c67dc5b | 43 | #define PIXY_RCS_MAX_POS 1000L |
swilkins8 | 0:ef0e3c67dc5b | 44 | #define PIXY_RCS_CENTER_POS ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2) |
swilkins8 | 0:ef0e3c67dc5b | 45 | |
swilkins8 | 0:ef0e3c67dc5b | 46 | enum BlockType { |
swilkins8 | 0:ef0e3c67dc5b | 47 | NORMAL_BLOCK, |
swilkins8 | 0:ef0e3c67dc5b | 48 | CC_BLOCK |
swilkins8 | 0:ef0e3c67dc5b | 49 | }; |
swilkins8 | 0:ef0e3c67dc5b | 50 | |
swilkins8 | 3:66df7d295245 | 51 | /** A structure for containing Block data |
swilkins8 | 3:66df7d295245 | 52 | * signature the signature of the block |
swilkins8 | 3:66df7d295245 | 53 | * x the x position of the block on the screen |
swilkins8 | 3:66df7d295245 | 54 | * y the y position of the block on the screen |
swilkins8 | 3:66df7d295245 | 55 | * width the width of the block on the screen |
swilkins8 | 3:66df7d295245 | 56 | * height the height of the block on the screen |
swilkins8 | 3:66df7d295245 | 57 | * angle the angle of the block |
swilkins8 | 3:66df7d295245 | 58 | */ |
swilkins8 | 0:ef0e3c67dc5b | 59 | struct Block { |
swilkins8 | 0:ef0e3c67dc5b | 60 | uint16_t signature; |
swilkins8 | 0:ef0e3c67dc5b | 61 | uint16_t x; |
swilkins8 | 0:ef0e3c67dc5b | 62 | uint16_t y; |
swilkins8 | 0:ef0e3c67dc5b | 63 | uint16_t width; |
swilkins8 | 0:ef0e3c67dc5b | 64 | uint16_t height; |
swilkins8 | 0:ef0e3c67dc5b | 65 | uint16_t angle; |
swilkins8 | 0:ef0e3c67dc5b | 66 | }; |
swilkins8 | 0:ef0e3c67dc5b | 67 | |
swilkins8 | 2:fa582d9d91b5 | 68 | /** The superclass handler for the Pixy camera from a given connection handler (SPI, I2C, etc) |
swilkins8 | 2:fa582d9d91b5 | 69 | * Used for instantiating a Pixy object that interfaces via an abtritrary connection handler |
swilkins8 | 2:fa582d9d91b5 | 70 | */ |
swilkins8 | 0:ef0e3c67dc5b | 71 | template <class TPixyInterface> class TPixy |
swilkins8 | 0:ef0e3c67dc5b | 72 | { |
swilkins8 | 0:ef0e3c67dc5b | 73 | public: |
swilkins8 | 0:ef0e3c67dc5b | 74 | Serial* serial; |
swilkins8 | 0:ef0e3c67dc5b | 75 | Block *blocks; |
swilkins8 | 0:ef0e3c67dc5b | 76 | |
swilkins8 | 3:66df7d295245 | 77 | /** Creates a TPixy object with a given connection handler |
swilkins8 | 3:66df7d295245 | 78 | * @param type the pointer to the interface connection handler |
swilkins8 | 3:66df7d295245 | 79 | * @param serialOut the optional serial output pointer to print out Pixy camera data |
swilkins8 | 3:66df7d295245 | 80 | * @param arg an optional integer argument used for custom implementations of the Pixy library |
swilkins8 | 2:fa582d9d91b5 | 81 | */ |
swilkins8 | 0:ef0e3c67dc5b | 82 | TPixy(TPixyInterface* type, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL); |
swilkins8 | 0:ef0e3c67dc5b | 83 | ~TPixy(); |
swilkins8 | 0:ef0e3c67dc5b | 84 | |
swilkins8 | 3:66df7d295245 | 85 | /** Prints the given Block out to the given serial port |
swilkins8 | 3:66df7d295245 | 86 | * @param &block the Block to print |
swilkins8 | 3:66df7d295245 | 87 | */ |
swilkins8 | 3:66df7d295245 | 88 | void printBlock(Block &block); |
swilkins8 | 3:66df7d295245 | 89 | /** Returns the number of Blocks found in the current view and updates all Blocks' info |
swilkins8 | 3:66df7d295245 | 90 | * @param maxBlocks the maximum number of Blocks to search for |
swilkins8 | 3:66df7d295245 | 91 | * @return the number of Blocks found |
swilkins8 | 3:66df7d295245 | 92 | */ |
swilkins8 | 3:66df7d295245 | 93 | uint16_t getBlocks(uint16_t maxBlocks = 1000); |
swilkins8 | 3:66df7d295245 | 94 | /** Sets the PWM value of the Pixy servos |
swilkins8 | 3:66df7d295245 | 95 | * @param s0 the value of the left servo |
swilkins8 | 3:66df7d295245 | 96 | * @param s1 the value of the right servo |
swilkins8 | 3:66df7d295245 | 97 | * @return the interface return value for sending the servo command |
swilkins8 | 2:fa582d9d91b5 | 98 | */ |
swilkins8 | 0:ef0e3c67dc5b | 99 | int8_t setServos(uint16_t s0, uint16_t s1); |
swilkins8 | 3:66df7d295245 | 100 | /** Sets the brightness of the Pixy RGB LED |
swilkins8 | 3:66df7d295245 | 101 | * @param brightness the brightness of the LED |
swilkins8 | 3:66df7d295245 | 102 | * @return the interface return value for sending the brightness command |
swilkins8 | 3:66df7d295245 | 103 | */ |
swilkins8 | 0:ef0e3c67dc5b | 104 | int8_t setBrightness(uint8_t brightness); |
swilkins8 | 3:66df7d295245 | 105 | /** Sets the color of the Pixy RGB LED |
swilkins8 | 3:66df7d295245 | 106 | * @param r the red color value |
swilkins8 | 3:66df7d295245 | 107 | * @param g the green color value |
swilkins8 | 3:66df7d295245 | 108 | * @param b the blue color value |
swilkins8 | 3:66df7d295245 | 109 | */ |
swilkins8 | 0:ef0e3c67dc5b | 110 | int8_t setLED(uint8_t r, uint8_t g, uint8_t b); |
swilkins8 | 3:66df7d295245 | 111 | /** Initializes the Pixy |
swilkins8 | 3:66df7d295245 | 112 | */ |
swilkins8 | 0:ef0e3c67dc5b | 113 | void init(); |
swilkins8 | 0:ef0e3c67dc5b | 114 | |
swilkins8 | 0:ef0e3c67dc5b | 115 | private: |
swilkins8 | 0:ef0e3c67dc5b | 116 | TPixyInterface* link; |
swilkins8 | 0:ef0e3c67dc5b | 117 | BlockType blockType; |
swilkins8 | 3:66df7d295245 | 118 | /** Returns if the Pixy is ready to receive/send a message |
swilkins8 | 3:66df7d295245 | 119 | */ |
swilkins8 | 0:ef0e3c67dc5b | 120 | bool getStart(); |
swilkins8 | 3:66df7d295245 | 121 | /** Resizes the block array to add an additional block |
swilkins8 | 3:66df7d295245 | 122 | */ |
swilkins8 | 0:ef0e3c67dc5b | 123 | void resize(); |
swilkins8 | 0:ef0e3c67dc5b | 124 | bool skipStart; |
swilkins8 | 0:ef0e3c67dc5b | 125 | uint16_t blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 126 | uint16_t blockArraySize; |
swilkins8 | 0:ef0e3c67dc5b | 127 | }; |
swilkins8 | 0:ef0e3c67dc5b | 128 | |
swilkins8 | 0:ef0e3c67dc5b | 129 | template <class TPixyInterface> void TPixy<TPixyInterface>::init() |
swilkins8 | 0:ef0e3c67dc5b | 130 | { |
swilkins8 | 0:ef0e3c67dc5b | 131 | link->init(); |
swilkins8 | 0:ef0e3c67dc5b | 132 | } |
swilkins8 | 0:ef0e3c67dc5b | 133 | |
swilkins8 | 0:ef0e3c67dc5b | 134 | |
swilkins8 | 0:ef0e3c67dc5b | 135 | template <class TPixyInterface> TPixy<TPixyInterface>::TPixy(TPixyInterface* type, Serial* serialOut, uint16_t arg) : serial(serialOut), link(type) |
swilkins8 | 0:ef0e3c67dc5b | 136 | { |
swilkins8 | 0:ef0e3c67dc5b | 137 | skipStart = false; |
swilkins8 | 0:ef0e3c67dc5b | 138 | blockCount = 0; |
swilkins8 | 0:ef0e3c67dc5b | 139 | blockArraySize = PIXY_INITIAL_ARRAYSIZE; |
swilkins8 | 0:ef0e3c67dc5b | 140 | blocks = (Block *)malloc(sizeof(Block)*blockArraySize); |
swilkins8 | 0:ef0e3c67dc5b | 141 | link->setArg(arg); |
swilkins8 | 0:ef0e3c67dc5b | 142 | } |
swilkins8 | 0:ef0e3c67dc5b | 143 | |
swilkins8 | 0:ef0e3c67dc5b | 144 | template <class TPixyInterface> void TPixy<TPixyInterface>::printBlock(Block &block) |
swilkins8 | 0:ef0e3c67dc5b | 145 | { |
swilkins8 | 0:ef0e3c67dc5b | 146 | int i, j; |
swilkins8 | 0:ef0e3c67dc5b | 147 | char sig[6], d; |
swilkins8 | 0:ef0e3c67dc5b | 148 | bool flag; |
swilkins8 | 0:ef0e3c67dc5b | 149 | if (block.signature > PIXY_MAX_SIGNATURE) { // color code! (CC) |
swilkins8 | 0:ef0e3c67dc5b | 150 | // convert signature number to an octal string |
swilkins8 | 0:ef0e3c67dc5b | 151 | for (i = 12, j = 0, flag = false; i >= 0; i -= 3) { |
swilkins8 | 0:ef0e3c67dc5b | 152 | d = (block.signature >> i) & 0x07; |
swilkins8 | 0:ef0e3c67dc5b | 153 | if (d > 0 && !flag) { |
swilkins8 | 0:ef0e3c67dc5b | 154 | flag = true; |
swilkins8 | 0:ef0e3c67dc5b | 155 | } |
swilkins8 | 0:ef0e3c67dc5b | 156 | if (flag) { |
swilkins8 | 0:ef0e3c67dc5b | 157 | sig[j++] = d + '0'; |
swilkins8 | 0:ef0e3c67dc5b | 158 | } |
swilkins8 | 0:ef0e3c67dc5b | 159 | } |
swilkins8 | 0:ef0e3c67dc5b | 160 | sig[j] = '\0'; |
swilkins8 | 0:ef0e3c67dc5b | 161 | if (serial != NULL) { |
swilkins8 | 0:ef0e3c67dc5b | 162 | serial->printf("CC block! sig: %s (%d decimal) x: %d y: %d width: %d height: %d angle %d\n", sig, block.signature, block.x, block.y, block.width, block.height, block.angle); |
swilkins8 | 0:ef0e3c67dc5b | 163 | } |
swilkins8 | 0:ef0e3c67dc5b | 164 | } else {}// regular block. Note, angle is always zero, so no need to print |
swilkins8 | 0:ef0e3c67dc5b | 165 | serial->printf("sig: %d x: %d y: %d width: %d height: %d\n", block.signature, block.x, block.y, block.width, block.height); |
swilkins8 | 0:ef0e3c67dc5b | 166 | } |
swilkins8 | 0:ef0e3c67dc5b | 167 | |
swilkins8 | 0:ef0e3c67dc5b | 168 | template <class TPixyInterface> TPixy<TPixyInterface>::~TPixy() |
swilkins8 | 0:ef0e3c67dc5b | 169 | { |
swilkins8 | 0:ef0e3c67dc5b | 170 | free(blocks); |
swilkins8 | 0:ef0e3c67dc5b | 171 | } |
swilkins8 | 0:ef0e3c67dc5b | 172 | |
swilkins8 | 0:ef0e3c67dc5b | 173 | template <class TPixyInterface> bool TPixy<TPixyInterface>::getStart() |
swilkins8 | 0:ef0e3c67dc5b | 174 | { |
swilkins8 | 0:ef0e3c67dc5b | 175 | uint16_t w, lastw; |
swilkins8 | 0:ef0e3c67dc5b | 176 | lastw = 0xffff; |
swilkins8 | 0:ef0e3c67dc5b | 177 | while(true) { |
swilkins8 | 0:ef0e3c67dc5b | 178 | w = link->getWord(); |
swilkins8 | 0:ef0e3c67dc5b | 179 | if (w == 0 && lastw == 0) { |
swilkins8 | 0:ef0e3c67dc5b | 180 | wait_ms(10); |
swilkins8 | 0:ef0e3c67dc5b | 181 | return false; |
swilkins8 | 0:ef0e3c67dc5b | 182 | } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD) { |
swilkins8 | 0:ef0e3c67dc5b | 183 | blockType = NORMAL_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 184 | return true; |
swilkins8 | 0:ef0e3c67dc5b | 185 | } else if (w == PIXY_START_WORD_CC && lastw == PIXY_START_WORD) { |
swilkins8 | 0:ef0e3c67dc5b | 186 | blockType = CC_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 187 | return true; |
swilkins8 | 3:66df7d295245 | 188 | } else if (w == PIXY_START_WORDX) { |
swilkins8 | 0:ef0e3c67dc5b | 189 | if (serial != NULL) { |
swilkins8 | 0:ef0e3c67dc5b | 190 | serial->printf("reorder"); |
swilkins8 | 0:ef0e3c67dc5b | 191 | } |
swilkins8 | 0:ef0e3c67dc5b | 192 | link->getByte(); // resync |
swilkins8 | 0:ef0e3c67dc5b | 193 | } |
swilkins8 | 0:ef0e3c67dc5b | 194 | lastw = w; |
swilkins8 | 0:ef0e3c67dc5b | 195 | } |
swilkins8 | 0:ef0e3c67dc5b | 196 | } |
swilkins8 | 0:ef0e3c67dc5b | 197 | |
swilkins8 | 0:ef0e3c67dc5b | 198 | template <class TPixyInterface> void TPixy<TPixyInterface>::resize() |
swilkins8 | 0:ef0e3c67dc5b | 199 | { |
swilkins8 | 0:ef0e3c67dc5b | 200 | blockArraySize += PIXY_INITIAL_ARRAYSIZE; |
swilkins8 | 0:ef0e3c67dc5b | 201 | blocks = (Block *)realloc(blocks, sizeof(Block)*blockArraySize); |
swilkins8 | 0:ef0e3c67dc5b | 202 | } |
swilkins8 | 0:ef0e3c67dc5b | 203 | |
swilkins8 | 0:ef0e3c67dc5b | 204 | template <class TPixyInterface> uint16_t TPixy<TPixyInterface>::getBlocks(uint16_t maxBlocks) |
swilkins8 | 0:ef0e3c67dc5b | 205 | { |
swilkins8 | 0:ef0e3c67dc5b | 206 | uint8_t i; |
swilkins8 | 0:ef0e3c67dc5b | 207 | uint16_t w, checksum, sum; |
swilkins8 | 0:ef0e3c67dc5b | 208 | Block *block; |
swilkins8 | 0:ef0e3c67dc5b | 209 | |
swilkins8 | 0:ef0e3c67dc5b | 210 | if (!skipStart) { |
swilkins8 | 0:ef0e3c67dc5b | 211 | if (getStart() == false) { |
swilkins8 | 0:ef0e3c67dc5b | 212 | return 0; |
swilkins8 | 0:ef0e3c67dc5b | 213 | } |
swilkins8 | 0:ef0e3c67dc5b | 214 | } else { |
swilkins8 | 0:ef0e3c67dc5b | 215 | skipStart = false; |
swilkins8 | 0:ef0e3c67dc5b | 216 | } |
swilkins8 | 0:ef0e3c67dc5b | 217 | for(blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) { |
swilkins8 | 0:ef0e3c67dc5b | 218 | checksum = link->getWord(); |
swilkins8 | 0:ef0e3c67dc5b | 219 | if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame |
swilkins8 | 0:ef0e3c67dc5b | 220 | skipStart = true; |
swilkins8 | 0:ef0e3c67dc5b | 221 | blockType = NORMAL_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 222 | if (serial != NULL) { |
swilkins8 | 0:ef0e3c67dc5b | 223 | serial->printf("skip"); |
swilkins8 | 0:ef0e3c67dc5b | 224 | } |
swilkins8 | 0:ef0e3c67dc5b | 225 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 226 | } else if (checksum == PIXY_START_WORD_CC) { |
swilkins8 | 0:ef0e3c67dc5b | 227 | skipStart = true; |
swilkins8 | 0:ef0e3c67dc5b | 228 | blockType = CC_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 229 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 230 | } else if (checksum == 0) { |
swilkins8 | 0:ef0e3c67dc5b | 231 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 232 | } |
swilkins8 | 0:ef0e3c67dc5b | 233 | if (blockCount > blockArraySize) { |
swilkins8 | 0:ef0e3c67dc5b | 234 | resize(); |
swilkins8 | 0:ef0e3c67dc5b | 235 | } |
swilkins8 | 0:ef0e3c67dc5b | 236 | block = blocks + blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 237 | |
swilkins8 | 0:ef0e3c67dc5b | 238 | for (i = 0, sum = 0; i < sizeof(Block)/sizeof(uint16_t); i++) { |
swilkins8 | 0:ef0e3c67dc5b | 239 | if (blockType == NORMAL_BLOCK && i >= 5) { // skip |
swilkins8 | 0:ef0e3c67dc5b | 240 | block->angle = 0; |
swilkins8 | 0:ef0e3c67dc5b | 241 | break; |
swilkins8 | 0:ef0e3c67dc5b | 242 | } |
swilkins8 | 0:ef0e3c67dc5b | 243 | w = link->getWord(); |
swilkins8 | 0:ef0e3c67dc5b | 244 | sum += w; |
swilkins8 | 0:ef0e3c67dc5b | 245 | *((uint16_t *)block + i) = w; |
swilkins8 | 0:ef0e3c67dc5b | 246 | } |
swilkins8 | 0:ef0e3c67dc5b | 247 | |
swilkins8 | 0:ef0e3c67dc5b | 248 | if (checksum == sum) { |
swilkins8 | 0:ef0e3c67dc5b | 249 | blockCount++; |
swilkins8 | 0:ef0e3c67dc5b | 250 | } else { |
swilkins8 | 0:ef0e3c67dc5b | 251 | w = link->getWord(); |
swilkins8 | 0:ef0e3c67dc5b | 252 | if (serial != NULL) { |
swilkins8 | 0:ef0e3c67dc5b | 253 | serial->printf("cs error"); |
swilkins8 | 0:ef0e3c67dc5b | 254 | } |
swilkins8 | 0:ef0e3c67dc5b | 255 | } |
swilkins8 | 0:ef0e3c67dc5b | 256 | if (w == PIXY_START_WORD) { |
swilkins8 | 0:ef0e3c67dc5b | 257 | blockType = NORMAL_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 258 | } else if (w == PIXY_START_WORD_CC) { |
swilkins8 | 0:ef0e3c67dc5b | 259 | blockType = CC_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 260 | } else { |
swilkins8 | 0:ef0e3c67dc5b | 261 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 262 | } |
swilkins8 | 0:ef0e3c67dc5b | 263 | } |
swilkins8 | 0:ef0e3c67dc5b | 264 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 265 | } |
swilkins8 | 0:ef0e3c67dc5b | 266 | |
swilkins8 | 0:ef0e3c67dc5b | 267 | template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setServos(uint16_t s0, uint16_t s1) |
swilkins8 | 0:ef0e3c67dc5b | 268 | { |
swilkins8 | 0:ef0e3c67dc5b | 269 | uint8_t outBuf[6]; |
swilkins8 | 0:ef0e3c67dc5b | 270 | outBuf[0] = 0x00; |
swilkins8 | 0:ef0e3c67dc5b | 271 | outBuf[1] = 0xff; |
swilkins8 | 0:ef0e3c67dc5b | 272 | *(uint16_t *)(outBuf + 2) = s0; |
swilkins8 | 0:ef0e3c67dc5b | 273 | *(uint16_t *)(outBuf + 4) = s1; |
swilkins8 | 0:ef0e3c67dc5b | 274 | return link->send(outBuf, 6); |
swilkins8 | 0:ef0e3c67dc5b | 275 | } |
swilkins8 | 0:ef0e3c67dc5b | 276 | |
swilkins8 | 0:ef0e3c67dc5b | 277 | template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setBrightness(uint8_t brightness) |
swilkins8 | 0:ef0e3c67dc5b | 278 | { |
swilkins8 | 0:ef0e3c67dc5b | 279 | uint8_t outBuf[3]; |
swilkins8 | 0:ef0e3c67dc5b | 280 | outBuf[0] = 0x00; |
swilkins8 | 0:ef0e3c67dc5b | 281 | outBuf[1] = 0xfe; |
swilkins8 | 0:ef0e3c67dc5b | 282 | outBuf[2] = brightness; |
swilkins8 | 0:ef0e3c67dc5b | 283 | return link->send(outBuf, 3); |
swilkins8 | 0:ef0e3c67dc5b | 284 | } |
swilkins8 | 0:ef0e3c67dc5b | 285 | |
swilkins8 | 0:ef0e3c67dc5b | 286 | template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setLED(uint8_t r, uint8_t g, uint8_t b) |
swilkins8 | 0:ef0e3c67dc5b | 287 | { |
swilkins8 | 0:ef0e3c67dc5b | 288 | uint8_t outBuf[5]; |
swilkins8 | 0:ef0e3c67dc5b | 289 | outBuf[0] = 0x00; |
swilkins8 | 0:ef0e3c67dc5b | 290 | outBuf[1] = 0xfd; |
swilkins8 | 0:ef0e3c67dc5b | 291 | outBuf[2] = r; |
swilkins8 | 0:ef0e3c67dc5b | 292 | outBuf[3] = g; |
swilkins8 | 0:ef0e3c67dc5b | 293 | outBuf[4] = b; |
swilkins8 | 0:ef0e3c67dc5b | 294 | return link->send(outBuf, 5); |
swilkins8 | 0:ef0e3c67dc5b | 295 | } |
swilkins8 | 0:ef0e3c67dc5b | 296 | |
swilkins8 | 0:ef0e3c67dc5b | 297 | #endif |