Diff: Pixy2_Libray.cpp

Revision:

3:d245cf5af33d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pixy2_Libray.cpp	Wed Mar 04 15:23:41 2020 +0000
@@ -0,0 +1,123 @@
+/*
+ * mbed library for Pixy2 Camera
+ * Copyright (c) 2019 Jordan DUCHÊNE
+ */
+
+#include "mbed.h"
+#include "Pixy2_Library.h"
+
+
+
+
+Pixy2_Library::Pixy2_Library (PinName p_sda, PinName p_scl, int address)   // Class Constructor
+{
+    composant = new I2C(p_sda,p_scl);  //sda, sc1
+    composant ->frequency(100000);
+    I2Caddress = address;
+}
+
+
+void Pixy2_Library::Pixy2_WhiteLED(bool STATE)   // White LEDs BuiltIN ON/OFF methode
+{
+
+    unsigned char readdata[21];
+    unsigned char lampeON[6]= {0xae,0xc1,22,2,1,0};
+    unsigned char lampeOFF[6]= {0xae,0xc1,22,2,0,0};
+    if(STATE == true) {
+        do {
+            composant->write(I2Caddress,(char*)lampeON,6);
+            composant->read(I2Caddress,(char*)readdata,10);
+            wait(0.01);
+        } while(readdata[0] != 175 && readdata[1] != 193);
+    } else {
+        do {
+            composant->write(I2Caddress,(char*)lampeOFF,6);
+            composant->read(I2Caddress,(char*)readdata,10);
+            wait(0.01);
+        } while(readdata[0] != 175 && readdata[1] != 193);
+    }
+
+}
+void Pixy2_Library::Pixy2_SetServo(int PAN, int TILT)   // Head Servo Crontrol methode
+{
+    int lowP, hightP, lowT, hightT;
+    hightP = PAN >> 8 ;
+    lowP = PAN & 0x0f;
+    hightT = TILT >> 8 ;
+    lowT = TILT & 0x0f;
+    unsigned char readdata[21];
+    unsigned char SetServ[8]= {0xae,0xc1,18,4,lowP,hightP,lowT,hightP};
+    do {
+        composant->write(I2Caddress,(char*)SetServ,6);
+        composant->read(I2Caddress,(char*)readdata,10);
+        wait(0.01);
+    } while(readdata[0] != 175 && readdata[1] != 193);
+}
+
+
+void Pixy2_Library::Pixy2_RGBLED(bool STATE)
+{
+
+    unsigned char readdata[21];
+    unsigned char lampeON[6]= {0xae,0xc1,22,2,0,1};
+    unsigned char lampeOFF[6]= {0xae,0xc1,22,2,0,0};
+    if(STATE == true) {
+        do {
+            composant->write(I2Caddress,(char*)lampeON,6);
+            composant->read(I2Caddress,(char*)readdata,10);
+            wait(0.01);
+        } while(readdata[0] != 175 && readdata[1] != 193);
+    } else {
+        do {
+            composant->write(I2Caddress,(char*)lampeOFF,6);
+            composant->read(I2Caddress,(char*)readdata,10);
+            wait(0.01);
+        } while(readdata[0] != 175 && readdata[1] != 193);
+    }
+
+}
+
+int Pixy2_Library::Pixy2_GetBlock(char DATA, int BLOCK_NUMBER)
+{
+    int DataSize = BLOCK_NUMBER * 14 + 6;
+    unsigned char writedata[6]= {0xae,0xc1,32,2,255,20};
+    unsigned char readdata[DataSize + 1];
+    do {
+        composant->write(I2Caddress,(char*)writedata,6);
+        composant->read(I2Caddress,(char*)readdata,DataSize);
+        wait(0.1);
+    } while(readdata[0] != 175 && readdata[1] != 193);
+    switch(DATA) {
+        case 's':
+            if(readdata[DataSize - 13]<2) return readdata[7]*256+readdata[DataSize - 14];
+            if(readdata[DataSize - 13]>=2) return -2;
+            break;
+        case 'x':
+            if(readdata[DataSize - 11]<2) return readdata[DataSize - 11]*256+readdata[DataSize - 12];
+            if(readdata[DataSize - 11]>=2) return -2;
+            break;
+        case 'y':
+            if(readdata[DataSize - 9]<2) return readdata[DataSize - 9]*256+readdata[DataSize - 10];
+            if(readdata[DataSize - 9]>=2) return -2;
+            break;
+        case 'w':
+            if(readdata[DataSize - 7]<2) return readdata[DataSize - 7]*256+readdata[DataSize - 8];
+            if(readdata[DataSize - 7]>=2) return -2;
+            break;
+        case 'h':
+            if(readdata[DataSize - 5]<2) return readdata[DataSize - 5]*256+readdata[DataSize - 6];
+            if(readdata[DataSize - 5]>=2) return -2;
+            break;
+        case 'a':
+            if(readdata[DataSize - 3]<2) return readdata[DataSize - 3]*256+readdata[DataSize - 4];
+            if(readdata[DataSize - 3]>=2) return -2;
+            break;
+        case 'i':
+            if(readdata[DataSize - 1]<2) return readdata[DataSize - 1]*256+readdata[DataSize - 2];                                //////////////////////// 1
+            if(readdata[DataSize - 1]>=2) return -2;
+            break;
+    }
+}
+
+
+