Revision 4:ee635fc62b6e, committed 2018-06-09

Comitter:

lenriquez389

Date:

Sat Jun 09 03:56:25 2018 +0000

Parent:

3:66df7d295245

Commit message:

PIXY

Changed in this revision

--- 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

--- 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