Diff: Pixy.h

Revision:

4:ee635fc62b6e

Parent:

3:66df7d295245

--- a/Pixy.h	Mon Mar 14 18:53:43 2016 +0000
+++ b/Pixy.h	Sat Jun 09 03:56:25 2018 +0000
@@ -7,19 +7,6 @@
 #define X_CENTER        ((PIXY_MAX_X-PIXY_MIN_X)/2)
 #define Y_CENTER        ((PIXY_MAX_Y-PIXY_MIN_Y)/2)
 
-/** The SPI Pixy interface for the Pixy camera
-  * @code
-  * #include "Pixy.h"
-  * Serial serial(USBTX, USBRX);
-  * SPI spi(p5, p6, p7);
-  * PixySPI pixy(&spi, &serial);
-  *
-  * int main() {
-  *     runPanTiltDemo();
-  * }
-  * @endcode
-  */
-  
 class PixySPI : public TPixy<PixyInterfaceSPI>
 {
 public:
@@ -33,17 +20,6 @@
         TPixy<PixyInterfaceSPI>((new PixyInterfaceSPI(spi)), serialOut, arg) {}
 };
 
-
-/* Not Implemented */
-/*
-class PixyI2C : TPixy<PixyInterfaceI2C> {
-    public:
-        PixyI2C(I2C* i2c, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL) : i2cInterface(i2c), TPixy<PixyInterfaceI2C>(i2cInterface, serialOut, arg);
-    private:
-        TPixyInterface<I2C>* i2cInterface;
-    };
-    */
-    
 class ServoLoop
 {
 public:
@@ -64,45 +40,4 @@
     int32_t m_pgain;
     int32_t m_dgain;
 };
-
-/** Basic Pan/Tilt Demo code
-  * Runs the Pan/Tilt demo code
-  * @param pixy the pointer to the pixy object to run the demo on
-  * @param serial the optional serial pointer to display output to
-  */
-template <class TPixyInterface> void runPanTiltDemo(TPixy<TPixyInterface>* pixy, Serial* serial = NULL)
-{
-    ServoLoop panLoop(-150, -300);
-    ServoLoop tiltLoop(200, 250);
-    if (serial != NULL) {
-        serial->printf("Starting...\n");
-    }   
-    static int i = 0;
-    int j;
-    uint16_t blocks;
-    int32_t panError, tiltError;
-    pixy->init();
-    while(true) {
-        blocks = pixy->getBlocks();
-        if (blocks) {
-            panError = X_CENTER - pixy->blocks[0].x;
-            tiltError = pixy->blocks[0].y - Y_CENTER;
-
-            panLoop.update(panError);
-            tiltLoop.update(tiltError);
-
-            pixy->setServos(panLoop.m_pos, tiltLoop.m_pos);
-            i++;
-
-            if (i % 50 == 0 && serial != NULL) {
-                serial->printf("Detected %d:\n", blocks);
-                //toPC.printf(buf);
-                for (j = 0; j < blocks; j++) {
-                    serial->printf("  block %d: ", j);
-                    pixy->printBlock(pixy->blocks[j]);
-                }
-            }
-        }
-    }
-}
 #endif
\ No newline at end of file