Diff: Pixy.h

Revision:

5:d109b094d4bb

Parent:

4:478d4d9193a1

diff -r 478d4d9193a1 -r d109b094d4bb Pixy.h
--- a/Pixy.h	Mon Aug 23 11:26:37 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,100 +0,0 @@
-#ifndef _PIXY_H
-#define _PIXY_H
-
-#include "TPixy.h"
-#include "TPixyInterface.h"
-
-#define X_CENTER        ((PIXY_MAX_X-PIXY_MIN_X)/2)
-#define Y_CENTER        ((PIXY_MAX_Y-PIXY_MIN_Y)/2)
-
-/** The SPI Pixy interface for the Pixy camera
-  * @code
-  * #include "Pixy.h"
-  * Serial serial(USBTX, USBRX);
-  * SPI spi(p5, p6, p7);
-  * PixySPI pixy(&spi, &serial);
-  *
-  * int main() {
-  *     runPanTiltDemo();
-  * }
-  * @endcode
-  */
-  
-class PixySPI : public TPixy<PixyInterfaceSPI>
-{
-public:
-    /** Constructor for the PixySPI class
-      * Instantiates a Pixy object that communicates via an SPI connection
-      * @param SPI* spi the pointer to the SPI connection
-      * @param Serial* serialOut the optional serial output pointer to print out Pixy camera data
-      * @param int arg an optional integer argument used for custom implementations of the Pixy library
-      */
-    PixySPI(SPI* spi, BufferedSerial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL) :
-        TPixy<PixyInterfaceSPI>((new PixyInterfaceSPI(spi)), serialOut, arg) {}
-};
-
-
-/* Not Implemented */
-/*
-class PixyI2C : TPixy<PixyInterfaceI2C> {
-    public:
-        PixyI2C(I2C* i2c, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL) : i2cInterface(i2c), TPixy<PixyInterfaceI2C>(i2cInterface, serialOut, arg);
-    private:
-        TPixyInterface<I2C>* i2cInterface;
-    };
-    */
-    
-class ServoLoop
-{
-public:
-    /** Constructor for a ServoLoop object
-      * Creates a ServoLoop object for easy control of the Pixy servos
-      * @param pgain the proportional gain for the control
-      * @param dgain the derivative gain for the control
-      */
-    ServoLoop(int32_t pgain, int32_t dgain);
-    /** Update method for a ServoLoop object
-      * Updates the m_pos variable for setting a Pixy servo
-      * @param error the error between the center of the camera and the position of the tracking color
-      */
-    void update(int32_t error);
-
-    int32_t m_pos;
-    int32_t m_prevError;
-    int32_t m_pgain;
-    int32_t m_dgain;
-};
-
-/** Basic Pan/Tilt Demo code
-  * Runs the Pan/Tilt demo code
-  * @param pixy the pointer to the pixy object to run the demo on
-  * @param serial the optional serial pointer to display output to
-  */
-template <class TPixyInterface> void runPanTiltDemo(TPixy<TPixyInterface>* pixy, BufferedSerial* serial = NULL)
-{
-    ServoLoop panLoop(-150, -300);
-    ServoLoop tiltLoop(200, 250);
-   {
-        printf("Starting...\n");
-    }   
-    static int i = 0;
-    int j;
-    uint16_t blocks;
-    int32_t panError, tiltError;
-    pixy->init();
-    while(true) {
-        blocks = pixy->getBlocks();
-        if (blocks) {
-            i++;
-            if (i % 5 == 0 ) {
-                printf("Detected %d:\n", blocks);
-                //toPC.printf(buf);
-                for (j = 0; j < blocks; j++) {
-                    printf("  block %d: ", j);
-                    pixy->printBlock(pixy->blocks[j]);
-                }
-            }
-        }
-    }
-}
-#endif
\ No newline at end of file