Benjamin Brou / Mbed 2 deprecated CameraPixy2

Mattéo

Dependencies:   mbed Pixy2_Library2

Pixy2_Libray.cpp@0:fc353d12d2b1, 2020-05-15 (annotated)

Committer:
benbrou06
Date:
Fri May 15 16:50:51 2020 +0000
Revision:
0:fc353d12d2b1
Matteo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benbrou06 0:fc353d12d2b1 1 /*
benbrou06 0:fc353d12d2b1 2 * mbed library for Pixy2 Camera
benbrou06 0:fc353d12d2b1 3 * Copyright (c) 2019 Jordan DUCHÊNE
benbrou06 0:fc353d12d2b1 4 */
benbrou06 0:fc353d12d2b1 5
benbrou06 0:fc353d12d2b1 6 #include "mbed.h"
benbrou06 0:fc353d12d2b1 7 #include "Pixy2_Library.h"
benbrou06 0:fc353d12d2b1 8
benbrou06 0:fc353d12d2b1 9
benbrou06 0:fc353d12d2b1 10
benbrou06 0:fc353d12d2b1 11
benbrou06 0:fc353d12d2b1 12 Pixy2_Library::Pixy2_Library (PinName p_sda, PinName p_scl, int address) // Class Constructor
benbrou06 0:fc353d12d2b1 13 {
benbrou06 0:fc353d12d2b1 14 composant = new I2C(p_sda,p_scl); //sda, sc1
benbrou06 0:fc353d12d2b1 15 composant ->frequency(100000);
benbrou06 0:fc353d12d2b1 16 I2Caddress = address;
benbrou06 0:fc353d12d2b1 17 }
benbrou06 0:fc353d12d2b1 18
benbrou06 0:fc353d12d2b1 19
benbrou06 0:fc353d12d2b1 20 void Pixy2_Library::Pixy2_WhiteLED(bool STATE) // White LEDs BuiltIN ON/OFF methode
benbrou06 0:fc353d12d2b1 21 {
benbrou06 0:fc353d12d2b1 22
benbrou06 0:fc353d12d2b1 23 unsigned char readdata[21];
benbrou06 0:fc353d12d2b1 24 unsigned char lampeON[6]= {0xae,0xc1,22,2,1,0};
benbrou06 0:fc353d12d2b1 25 unsigned char lampeOFF[6]= {0xae,0xc1,22,2,0,0};
benbrou06 0:fc353d12d2b1 26 if(STATE == true) {
benbrou06 0:fc353d12d2b1 27 do {
benbrou06 0:fc353d12d2b1 28 composant->write(I2Caddress,(char*)lampeON,6);
benbrou06 0:fc353d12d2b1 29 composant->read(I2Caddress,(char*)readdata,10);
benbrou06 0:fc353d12d2b1 30 wait(0.01);
benbrou06 0:fc353d12d2b1 31 } while(readdata[0] != 175 && readdata[1] != 193);
benbrou06 0:fc353d12d2b1 32 } else {
benbrou06 0:fc353d12d2b1 33 do {
benbrou06 0:fc353d12d2b1 34 composant->write(I2Caddress,(char*)lampeOFF,6);
benbrou06 0:fc353d12d2b1 35 composant->read(I2Caddress,(char*)readdata,10);
benbrou06 0:fc353d12d2b1 36 wait(0.01);
benbrou06 0:fc353d12d2b1 37 } while(readdata[0] != 175 && readdata[1] != 193);
benbrou06 0:fc353d12d2b1 38 }
benbrou06 0:fc353d12d2b1 39
benbrou06 0:fc353d12d2b1 40 }
benbrou06 0:fc353d12d2b1 41 void Pixy2_Library::Pixy2_SetServo(int PAN, int TILT) // Head Servo Crontrol methode
benbrou06 0:fc353d12d2b1 42 {
benbrou06 0:fc353d12d2b1 43 int lowP, hightP, lowT, hightT;
benbrou06 0:fc353d12d2b1 44 hightP = PAN >> 8 ;
benbrou06 0:fc353d12d2b1 45 lowP = PAN & 0x0f;
benbrou06 0:fc353d12d2b1 46 hightT = TILT >> 8 ;
benbrou06 0:fc353d12d2b1 47 lowT = TILT & 0x0f;
benbrou06 0:fc353d12d2b1 48 unsigned char readdata[21];
benbrou06 0:fc353d12d2b1 49 unsigned char SetServ[8]= {0xae,0xc1,18,4,lowP,hightP,lowT,hightP};
benbrou06 0:fc353d12d2b1 50 do {
benbrou06 0:fc353d12d2b1 51 composant->write(I2Caddress,(char*)SetServ,6);
benbrou06 0:fc353d12d2b1 52 composant->read(I2Caddress,(char*)readdata,10);
benbrou06 0:fc353d12d2b1 53 wait(0.01);
benbrou06 0:fc353d12d2b1 54 } while(readdata[0] != 175 && readdata[1] != 193);
benbrou06 0:fc353d12d2b1 55 }
benbrou06 0:fc353d12d2b1 56
benbrou06 0:fc353d12d2b1 57
benbrou06 0:fc353d12d2b1 58 void Pixy2_Library::Pixy2_RGBLED(bool STATE)
benbrou06 0:fc353d12d2b1 59 {
benbrou06 0:fc353d12d2b1 60
benbrou06 0:fc353d12d2b1 61 unsigned char readdata[21];
benbrou06 0:fc353d12d2b1 62 unsigned char lampeON[6]= {0xae,0xc1,22,2,0,1};
benbrou06 0:fc353d12d2b1 63 unsigned char lampeOFF[6]= {0xae,0xc1,22,2,0,0};
benbrou06 0:fc353d12d2b1 64 if(STATE == true) {
benbrou06 0:fc353d12d2b1 65 do {
benbrou06 0:fc353d12d2b1 66 composant->write(I2Caddress,(char*)lampeON,6);
benbrou06 0:fc353d12d2b1 67 composant->read(I2Caddress,(char*)readdata,10);
benbrou06 0:fc353d12d2b1 68 wait(0.01);
benbrou06 0:fc353d12d2b1 69 } while(readdata[0] != 175 && readdata[1] != 193);
benbrou06 0:fc353d12d2b1 70 } else {
benbrou06 0:fc353d12d2b1 71 do {
benbrou06 0:fc353d12d2b1 72 composant->write(I2Caddress,(char*)lampeOFF,6);
benbrou06 0:fc353d12d2b1 73 composant->read(I2Caddress,(char*)readdata,10);
benbrou06 0:fc353d12d2b1 74 wait(0.01);
benbrou06 0:fc353d12d2b1 75 } while(readdata[0] != 175 && readdata[1] != 193);
benbrou06 0:fc353d12d2b1 76 }
benbrou06 0:fc353d12d2b1 77
benbrou06 0:fc353d12d2b1 78 }
benbrou06 0:fc353d12d2b1 79
benbrou06 0:fc353d12d2b1 80 int Pixy2_Library::Pixy2_GetBlock(char DATA, int BLOCK_NUMBER)
benbrou06 0:fc353d12d2b1 81 {
benbrou06 0:fc353d12d2b1 82 int DataSize = BLOCK_NUMBER * 14 + 6;
benbrou06 0:fc353d12d2b1 83 unsigned char writedata[6]= {0xae,0xc1,32,2,255,20};
benbrou06 0:fc353d12d2b1 84 unsigned char readdata[DataSize + 1];
benbrou06 0:fc353d12d2b1 85 do {
benbrou06 0:fc353d12d2b1 86 composant->write(I2Caddress,(char*)writedata,6);
benbrou06 0:fc353d12d2b1 87 composant->read(I2Caddress,(char*)readdata,DataSize);
benbrou06 0:fc353d12d2b1 88 wait(0.1);
benbrou06 0:fc353d12d2b1 89 } while(readdata[0] != 175 && readdata[1] != 193);
benbrou06 0:fc353d12d2b1 90 switch(DATA) {
benbrou06 0:fc353d12d2b1 91 case 's':
benbrou06 0:fc353d12d2b1 92 if(readdata[DataSize - 13]<2) return readdata[7]*256+readdata[DataSize - 14];
benbrou06 0:fc353d12d2b1 93 if(readdata[DataSize - 13]>=2) return -2;
benbrou06 0:fc353d12d2b1 94 break;
benbrou06 0:fc353d12d2b1 95 case 'x':
benbrou06 0:fc353d12d2b1 96 if(readdata[DataSize - 11]<2) return readdata[DataSize - 11]*256+readdata[DataSize - 12];
benbrou06 0:fc353d12d2b1 97 if(readdata[DataSize - 11]>=2) return -2;
benbrou06 0:fc353d12d2b1 98 break;
benbrou06 0:fc353d12d2b1 99 case 'y':
benbrou06 0:fc353d12d2b1 100 if(readdata[DataSize - 9]<2) return readdata[DataSize - 9]*256+readdata[DataSize - 10];
benbrou06 0:fc353d12d2b1 101 if(readdata[DataSize - 9]>=2) return -2;
benbrou06 0:fc353d12d2b1 102 break;
benbrou06 0:fc353d12d2b1 103 case 'w':
benbrou06 0:fc353d12d2b1 104 if(readdata[DataSize - 7]<2) return readdata[DataSize - 7]*256+readdata[DataSize - 8];
benbrou06 0:fc353d12d2b1 105 if(readdata[DataSize - 7]>=2) return -2;
benbrou06 0:fc353d12d2b1 106 break;
benbrou06 0:fc353d12d2b1 107 case 'h':
benbrou06 0:fc353d12d2b1 108 if(readdata[DataSize - 5]<2) return readdata[DataSize - 5]*256+readdata[DataSize - 6];
benbrou06 0:fc353d12d2b1 109 if(readdata[DataSize - 5]>=2) return -2;
benbrou06 0:fc353d12d2b1 110 break;
benbrou06 0:fc353d12d2b1 111 case 'a':
benbrou06 0:fc353d12d2b1 112 if(readdata[DataSize - 3]<2) return readdata[DataSize - 3]*256+readdata[DataSize - 4];
benbrou06 0:fc353d12d2b1 113 if(readdata[DataSize - 3]>=2) return -2;
benbrou06 0:fc353d12d2b1 114 break;
benbrou06 0:fc353d12d2b1 115 case 'i':
benbrou06 0:fc353d12d2b1 116 if(readdata[DataSize - 1]<2) return readdata[DataSize - 1]*256+readdata[DataSize - 2]; //////////////////////// 1
benbrou06 0:fc353d12d2b1 117 if(readdata[DataSize - 1]>=2) return -2;
benbrou06 0:fc353d12d2b1 118 break;
benbrou06 0:fc353d12d2b1 119 }
benbrou06 0:fc353d12d2b1 120 }
benbrou06 0:fc353d12d2b1 121
benbrou06 0:fc353d12d2b1 122
benbrou06 0:fc353d12d2b1 123