Erik Hatfield / pixylib

Port of Arduino Pixy Cmucam5 library

Dependents:   Robot_Control

Fork of pixy by Arcadie Cracan

Pixy.h.orig@8:6cd36ded7c4e, 2016-03-13 (annotated)

Committer:
balsamfir
Date:
Sun Mar 13 14:23:33 2016 +0000
Revision:
8:6cd36ded7c4e
Parent:
6:f1c641be779e 
Fixed block reading bug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
balsamfir 6:f1c641be779e 1 #ifndef TUIASI_PIXY_H
balsamfir 6:f1c641be779e 2 #define TUIASI_PIXY_H
balsamfir 6:f1c641be779e 3
balsamfir 6:f1c641be779e 4 #include "mbed.h"
balsamfir 6:f1c641be779e 5 #include "PixyLinkSPI.h"
balsamfir 6:f1c641be779e 6 #include "PixyLinkI2C.h"
balsamfir 6:f1c641be779e 7 #include "PixyLinkUART.h"
balsamfir 6:f1c641be779e 8
balsamfir 6:f1c641be779e 9 struct Block {
balsamfir 6:f1c641be779e 10 void print(Serial &pc) {
balsamfir 6:f1c641be779e 11 pc.printf("sig: %d x: %d y: %d width: %d height: %d angle: %d \n\r", signature, x, y, width, height, angle);
balsamfir 6:f1c641be779e 12 };
balsamfir 6:f1c641be779e 13 uint16_t type;
balsamfir 6:f1c641be779e 14 uint16_t signature;
balsamfir 6:f1c641be779e 15 uint16_t x;
balsamfir 6:f1c641be779e 16 uint16_t y;
balsamfir 6:f1c641be779e 17 uint16_t width;
balsamfir 6:f1c641be779e 18 uint16_t height;
balsamfir 6:f1c641be779e 19 int16_t angle;
balsamfir 6:f1c641be779e 20 };
balsamfir 6:f1c641be779e 21
balsamfir 6:f1c641be779e 22 class Pixy
balsamfir 6:f1c641be779e 23 {
balsamfir 6:f1c641be779e 24 public:
balsamfir 6:f1c641be779e 25 enum LinkType {SPI, I2C, UART};
balsamfir 6:f1c641be779e 26 Pixy(LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk = NC);
balsamfir 6:f1c641be779e 27 ~Pixy();
balsamfir 6:f1c641be779e 28 uint16_t getBlocks(uint16_t maxBlocks=1000);
balsamfir 6:f1c641be779e 29 int8_t setServos(uint16_t s0, uint16_t s1);
balsamfir 6:f1c641be779e 30 void setAddress(uint8_t addr);
balsamfir 6:f1c641be779e 31 void setSerialOutput(Serial *pc);
balsamfir 6:f1c641be779e 32
balsamfir 6:f1c641be779e 33 Block *blocks;
balsamfir 6:f1c641be779e 34
balsamfir 6:f1c641be779e 35 private:
balsamfir 6:f1c641be779e 36 static const uint8_t PIXY_INITIAL_ARRAYSIZE = 30;
balsamfir 6:f1c641be779e 37 static const uint8_t PIXY_MAXIMUM_ARRAYSIZE = 130;
balsamfir 6:f1c641be779e 38 static const uint16_t PIXY_START_WORD = 0xaa55;
balsamfir 6:f1c641be779e 39 static const uint16_t PIXY_START_WORD_CC = 0xaa56;
balsamfir 6:f1c641be779e 40 static const uint16_t PIXY_START_WORDX = 0x55aa;
balsamfir 6:f1c641be779e 41 static const uint8_t PIXY_DEFAULT_ADDR = 0x54; // I2C
balsamfir 6:f1c641be779e 42
balsamfir 6:f1c641be779e 43 bool getStart(uint16_t *type);
balsamfir 6:f1c641be779e 44 void resize();
balsamfir 6:f1c641be779e 45
balsamfir 6:f1c641be779e 46 bool skipStart;
balsamfir 6:f1c641be779e 47 uint16_t blockCount;
balsamfir 6:f1c641be779e 48 uint16_t blockArraySize;
balsamfir 6:f1c641be779e 49
balsamfir 6:f1c641be779e 50 PixyLink *m_link;
balsamfir 6:f1c641be779e 51 Serial *pc;
balsamfir 6:f1c641be779e 52 };
balsamfir 6:f1c641be779e 53 #endif //TUIASI_PIXY_H