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Diff: TPixy.h
- Revision:
- 4:ee635fc62b6e
- Parent:
- 3:66df7d295245
--- a/TPixy.h Mon Mar 14 18:53:43 2016 +0000 +++ b/TPixy.h Sat Jun 09 03:56:25 2018 +0000 @@ -1,25 +1,5 @@ -// -// begin license header -// -// This file is part of Pixy CMUcam5 or "Pixy" for short -// -// All Pixy source code is provided under the terms of the -// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). -// Those wishing to use Pixy source code, software and/or -// technologies under different licensing terms should contact us at -// cmucam@cs.cmu.edu. Such licensing terms are available for -// all portions of the Pixy codebase presented here. -// -// end license header -// -// This file is for defining the Block struct and the Pixy template class. -// (TPixy). TPixy takes a communication link as a template parameter so that -// all communication modes (SPI, I2C and UART) can share the same code. -// - #ifndef _TPIXY_H #define _TPIXY_H - #include "mbed.h" #include "TPixyInterface.h" @@ -37,9 +17,9 @@ #define PIXY_MAX_X 319L #define PIXY_MIN_Y 0L #define PIXY_MAX_Y 199L - +#define PIXY_CENTER_X ((PIXY_MAX_X-PIXY_MIN_X)/2) // RC-servo values -#define PIXY_RCS_MIN_POS 0L +#define PIXY_RCS_MIN_POS 650L #define PIXY_RCS_MAX_POS 1000L #define PIXY_RCS_CENTER_POS ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2) @@ -48,14 +28,6 @@ CC_BLOCK }; -/** A structure for containing Block data - * signature the signature of the block - * x the x position of the block on the screen - * y the y position of the block on the screen - * width the width of the block on the screen - * height the height of the block on the screen - * angle the angle of the block - */ struct Block { uint16_t signature; uint16_t x; @@ -65,61 +37,21 @@ uint16_t angle; }; -/** The superclass handler for the Pixy camera from a given connection handler (SPI, I2C, etc) - * Used for instantiating a Pixy object that interfaces via an abtritrary connection handler - */ template <class TPixyInterface> class TPixy { public: Serial* serial; Block *blocks; - - /** Creates a TPixy object with a given connection handler - * @param type the pointer to the interface connection handler - * @param serialOut the optional serial output pointer to print out Pixy camera data - * @param arg an optional integer argument used for custom implementations of the Pixy library - */ TPixy(TPixyInterface* type, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL); ~TPixy(); - - /** Prints the given Block out to the given serial port - * @param &block the Block to print - */ - void printBlock(Block &block); - /** Returns the number of Blocks found in the current view and updates all Blocks' info - * @param maxBlocks the maximum number of Blocks to search for - * @return the number of Blocks found - */ uint16_t getBlocks(uint16_t maxBlocks = 1000); - /** Sets the PWM value of the Pixy servos - * @param s0 the value of the left servo - * @param s1 the value of the right servo - * @return the interface return value for sending the servo command - */ int8_t setServos(uint16_t s0, uint16_t s1); - /** Sets the brightness of the Pixy RGB LED - * @param brightness the brightness of the LED - * @return the interface return value for sending the brightness command - */ - int8_t setBrightness(uint8_t brightness); - /** Sets the color of the Pixy RGB LED - * @param r the red color value - * @param g the green color value - * @param b the blue color value - */ - int8_t setLED(uint8_t r, uint8_t g, uint8_t b); - /** Initializes the Pixy - */ void init(); private: TPixyInterface* link; BlockType blockType; - /** Returns if the Pixy is ready to receive/send a message - */ bool getStart(); - /** Resizes the block array to add an additional block - */ void resize(); bool skipStart; uint16_t blockCount; @@ -141,30 +73,6 @@ link->setArg(arg); } -template <class TPixyInterface> void TPixy<TPixyInterface>::printBlock(Block &block) -{ - int i, j; - char sig[6], d; - bool flag; - if (block.signature > PIXY_MAX_SIGNATURE) { // color code! (CC) - // convert signature number to an octal string - for (i = 12, j = 0, flag = false; i >= 0; i -= 3) { - d = (block.signature >> i) & 0x07; - if (d > 0 && !flag) { - flag = true; - } - if (flag) { - sig[j++] = d + '0'; - } - } - sig[j] = '\0'; - if (serial != NULL) { - serial->printf("CC block! sig: %s (%d decimal) x: %d y: %d width: %d height: %d angle %d\n", sig, block.signature, block.x, block.y, block.width, block.height, block.angle); - } - } else {}// regular block. Note, angle is always zero, so no need to print - serial->printf("sig: %d x: %d y: %d width: %d height: %d\n", block.signature, block.x, block.y, block.width, block.height); -} - template <class TPixyInterface> TPixy<TPixyInterface>::~TPixy() { free(blocks); @@ -216,7 +124,7 @@ } for(blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) { checksum = link->getWord(); - if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame + if (checksum == PIXY_START_WORD) { skipStart = true; blockType = NORMAL_BLOCK; if (serial != NULL) { @@ -274,24 +182,4 @@ return link->send(outBuf, 6); } -template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setBrightness(uint8_t brightness) -{ - uint8_t outBuf[3]; - outBuf[0] = 0x00; - outBuf[1] = 0xfe; - outBuf[2] = brightness; - return link->send(outBuf, 3); -} - -template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setLED(uint8_t r, uint8_t g, uint8_t b) -{ - uint8_t outBuf[5]; - outBuf[0] = 0x00; - outBuf[1] = 0xfd; - outBuf[2] = r; - outBuf[3] = g; - outBuf[4] = b; - return link->send(outBuf, 5); -} - #endif \ No newline at end of file