Luis Enriquez / CACHAN_HOMOG

Homologation Cachan

Fork of TPixy-Interface by Stephen Wilkins

Pixy.h@4:ee635fc62b6e, 2018-06-09 (annotated)

Committer:
lenriquez389
Date:
Sat Jun 09 03:56:25 2018 +0000
Revision:
4:ee635fc62b6e
Parent:
3:66df7d295245 
PIXY

Who changed what in which revision?

UserRevisionLine numberNew contents of line
swilkins8 0:ef0e3c67dc5b 1 #ifndef _PIXY_H
swilkins8 0:ef0e3c67dc5b 2 #define _PIXY_H
swilkins8 0:ef0e3c67dc5b 3
swilkins8 0:ef0e3c67dc5b 4 #include "TPixy.h"
swilkins8 0:ef0e3c67dc5b 5 #include "TPixyInterface.h"
swilkins8 0:ef0e3c67dc5b 6
swilkins8 0:ef0e3c67dc5b 7 #define X_CENTER ((PIXY_MAX_X-PIXY_MIN_X)/2)
swilkins8 0:ef0e3c67dc5b 8 #define Y_CENTER ((PIXY_MAX_Y-PIXY_MIN_Y)/2)
swilkins8 0:ef0e3c67dc5b 9
swilkins8 0:ef0e3c67dc5b 10 class PixySPI : public TPixy<PixyInterfaceSPI>
swilkins8 0:ef0e3c67dc5b 11 {
swilkins8 0:ef0e3c67dc5b 12 public:
swilkins8 3:66df7d295245 13 /** Constructor for the PixySPI class
swilkins8 3:66df7d295245 14 * Instantiates a Pixy object that communicates via an SPI connection
swilkins8 3:66df7d295245 15 * @param SPI* spi the pointer to the SPI connection
swilkins8 3:66df7d295245 16 * @param Serial* serialOut the optional serial output pointer to print out Pixy camera data
swilkins8 3:66df7d295245 17 * @param int arg an optional integer argument used for custom implementations of the Pixy library
swilkins8 3:66df7d295245 18 */
swilkins8 0:ef0e3c67dc5b 19 PixySPI(SPI* spi, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL) :
swilkins8 0:ef0e3c67dc5b 20 TPixy<PixyInterfaceSPI>((new PixyInterfaceSPI(spi)), serialOut, arg) {}
swilkins8 0:ef0e3c67dc5b 21 };
swilkins8 0:ef0e3c67dc5b 22
swilkins8 0:ef0e3c67dc5b 23 class ServoLoop
swilkins8 0:ef0e3c67dc5b 24 {
swilkins8 0:ef0e3c67dc5b 25 public:
swilkins8 1:6587541f3aa8 26 /** Constructor for a ServoLoop object
swilkins8 1:6587541f3aa8 27 * Creates a ServoLoop object for easy control of the Pixy servos
swilkins8 1:6587541f3aa8 28 * @param pgain the proportional gain for the control
swilkins8 1:6587541f3aa8 29 * @param dgain the derivative gain for the control
swilkins8 1:6587541f3aa8 30 */
swilkins8 0:ef0e3c67dc5b 31 ServoLoop(int32_t pgain, int32_t dgain);
swilkins8 1:6587541f3aa8 32 /** Update method for a ServoLoop object
swilkins8 1:6587541f3aa8 33 * Updates the m_pos variable for setting a Pixy servo
swilkins8 1:6587541f3aa8 34 * @param error the error between the center of the camera and the position of the tracking color
swilkins8 1:6587541f3aa8 35 */
swilkins8 0:ef0e3c67dc5b 36 void update(int32_t error);
swilkins8 0:ef0e3c67dc5b 37
swilkins8 0:ef0e3c67dc5b 38 int32_t m_pos;
swilkins8 0:ef0e3c67dc5b 39 int32_t m_prevError;
swilkins8 0:ef0e3c67dc5b 40 int32_t m_pgain;
swilkins8 0:ef0e3c67dc5b 41 int32_t m_dgain;
swilkins8 0:ef0e3c67dc5b 42 };
swilkins8 0:ef0e3c67dc5b 43 #endif