Diff: main.cpp

Revision:

0:fc353d12d2b1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri May 15 16:50:51 2020 +0000
@@ -0,0 +1,111 @@
+#include "mbed.h"
+#include "Pixy2_Library.h"
+#define ADRESSE 0xa8
+
+Serial pc(USBTX,USBRX);
+
+int state = 3;
+int X,X2,X3;
+int Y,Y2,Y3;
+int W,W2,W3;
+int H,H2,H3;
+int S,S2,S3;
+int I,I2,I3;
+
+
+int main()
+{
+    int A,A2,A3;
+    pc.printf("Bienvenue sur Pixy2\n\r");
+
+    Pixy2_Library Cam1(p28,p27,ADRESSE);
+
+    //Cam1.Pixy2_WhiteLED(true);
+
+    while(1) {
+        
+        switch(state) {
+            case 0 :
+                /*Cam1.Pixy2_SetServo(0,0);
+                wait(0.5);
+                Cam1.Pixy2_SetServo(500,0);
+                wait(0.5);*/
+                break;
+            case 1 :
+                pc.printf("_______________X positions____________________\n\r");
+                X = Cam1.Pixy2_GetBlock('x',1);
+                X2 = Cam1.Pixy2_GetBlock('x',2);
+                X3 = Cam1.Pixy2_GetBlock('x',3);
+                pc.printf("Position X = %d\n\r", X);
+                pc.printf("Position X2 = %d\n\r", X2);
+                pc.printf("Position X3 = %d\n\r", X3);
+                break;
+            case 2 :
+                pc.printf("_______________Y positions____________________\n\r");
+                Y = Cam1.Pixy2_GetBlock('y',1);
+                Y2 = Cam1.Pixy2_GetBlock('y',2);
+                Y3 = Cam1.Pixy2_GetBlock('y',3);
+                pc.printf("Position Y = %d\n\r", Y);
+                pc.printf("Position Y2 = %d\n\r", Y2);
+                pc.printf("Position Y3 = %d\n\r", Y3);
+                break;
+            case 3 :
+                pc.printf("__________________ALL___________________________\n\r");
+                X = Cam1.Pixy2_GetBlock('x',1);
+                Y = Cam1.Pixy2_GetBlock('y',1);
+                W = Cam1.Pixy2_GetBlock('w',1);
+                H = Cam1.Pixy2_GetBlock('h',1);
+                S = Cam1.Pixy2_GetBlock('s',1);
+                //A = Cam1.Pixy2_GetBlock('a',1);
+                //I = Cam1.Pixy2_GetBlock('i',1);
+
+                /*X2 = Cam1.Pixy2_GetBlock('x',2);
+                Y2 = Cam1.Pixy2_GetBlock('y',2);
+                W2 = Cam1.Pixy2_GetBlock('w',2);
+                H2 = Cam1.Pixy2_GetBlock('h',2);
+                S2 = Cam1.Pixy2_GetBlock('s',2);
+                A2 = Cam1.Pixy2_GetBlock('a',2);
+                I2 = Cam1.Pixy2_GetBlock('i',2);
+
+                X3 = Cam1.Pixy2_GetBlock('x',3);
+                Y3 = Cam1.Pixy2_GetBlock('y',3);
+                W3 = Cam1.Pixy2_GetBlock('w',3);
+                H3 = Cam1.Pixy2_GetBlock('h',3);
+                S3 = Cam1.Pixy2_GetBlock('s',3);
+                A3 = Cam1.Pixy2_GetBlock('a',3);
+                I3 = Cam1.Pixy2_GetBlock('i',3);*/
+
+                pc.printf("Signature du block = %d\n\r", S);
+                pc.printf("Position X = %d\n\r", X);
+                pc.printf("Position Y = %d\n\r", Y);
+                pc.printf("Largeur = %d\n\r", W);
+                pc.printf("Hauteur = %d\n\r", H);
+                //pc.printf("Angle code-couleur = %d\n\r", A);
+                //pc.printf("Indice de suivi du block = %d\n\r", I);
+
+
+               /* pc.printf("______________________________\n\r");
+                pc.printf("Signature du block 2 = %d\n\r", S2);
+                pc.printf("Position X2 = %d\n\r", X2);
+                pc.printf("Position Y2 = %d\n\r", Y2);
+                pc.printf("Largeur 2 = %d\n\r", W2);
+                pc.printf("Hauteur 2 = %d\n\r", H2);
+                pc.printf("Angle code-couleur 2  = %d\n\r", A2);
+                pc.printf("Indice de suivi du block 2  = %d\n\r", I2);
+
+
+                pc.printf("______________________________\n\r");
+                pc.printf("Signature du block 3 = %d\n\r", S3);
+                pc.printf("Position X3 = %d\n\r", X3);
+                pc.printf("Position Y3 = %d\n\r", Y3);
+                pc.printf("Largeur 3 = %d\n\r", W3);
+                pc.printf("Hauteur 3 = %d\n\r", H3);
+                pc.printf("Angle code-couleur 3 = %d\n\r", A3);
+                pc.printf("Indice de suivi du block 3 = %d\n\r", I3);*/
+                break;
+        }
+
+        wait(0.3);
+    }
+}
+