Alexandre Pirotte / Mbed 2 deprecated pixy-Uart

toujours pour mes débiles

Dependencies:   mbed pixy

main.cpp@0:f0964760b5b2, 2018-03-27 (annotated)

Committer:
pirottealex
Date:
Tue Mar 27 12:05:35 2018 +0000
Revision:
0:f0964760b5b2
pour les teb? de 1?re ann?e;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pirottealex 0:f0964760b5b2 1 #include "mbed.h"
pirottealex 0:f0964760b5b2 2 #include "Pixy.h"
pirottealex 0:f0964760b5b2 3 #include "PixyLink.h"
pirottealex 0:f0964760b5b2 4 #define PERIOD 0.0001
pirottealex 0:f0964760b5b2 5 #define seuil_taille 3000 //seuil auquel le robot arrete d'avancer
pirottealex 0:f0964760b5b2 6 #define K 0.2// coef erreur pour asservissement
pirottealex 0:f0964760b5b2 7 Serial pc(USBTX,USBRX);
pirottealex 0:f0964760b5b2 8
pirottealex 0:f0964760b5b2 9
pirottealex 0:f0964760b5b2 10 //variables globales
pirottealex 0:f0964760b5b2 11
pirottealex 0:f0964760b5b2 12 float taille =0;
pirottealex 0:f0964760b5b2 13
pirottealex 0:f0964760b5b2 14 //Programme principal
pirottealex 0:f0964760b5b2 15 uint16_t blocks;
pirottealex 0:f0964760b5b2 16 Pixy pixy = Pixy(p28,p27);
pirottealex 0:f0964760b5b2 17 int main()
pirottealex 0:f0964760b5b2 18 {
pirottealex 0:f0964760b5b2 19
pirottealex 0:f0964760b5b2 20 int j=0;
pirottealex 0:f0964760b5b2 21
pirottealex 0:f0964760b5b2 22 pixy.setSerialOutput(&pc);
pirottealex 0:f0964760b5b2 23 int errorX = 0, errorY = 0,block;
pirottealex 0:f0964760b5b2 24 pc.printf("alive");
pirottealex 0:f0964760b5b2 25 while(1) {
pirottealex 0:f0964760b5b2 26
pirottealex 0:f0964760b5b2 27 blocks = pixy.getBlocks();
pirottealex 0:f0964760b5b2 28
pirottealex 0:f0964760b5b2 29 if(blocks)
pirottealex 0:f0964760b5b2 30 {
pirottealex 0:f0964760b5b2 31
pirottealex 0:f0964760b5b2 32 taille=pixy.blocks[j].width*pixy.blocks[j].height;
pirottealex 0:f0964760b5b2 33 errorX = (160-pixy.blocks[j].x);
pirottealex 0:f0964760b5b2 34 errorY = (100-pixy.blocks[j].y);
pirottealex 0:f0964760b5b2 35 pc.printf("non sig: %d x: %d y: %d width: %d height: %d\n\r", pixy.blocks[j].signature, pixy.blocks[j].x, pixy.blocks[j].y, pixy.blocks[j].width, pixy.blocks[j].height);
pirottealex 0:f0964760b5b2 36 }
pirottealex 0:f0964760b5b2 37
pirottealex 0:f0964760b5b2 38
pirottealex 0:f0964760b5b2 39 }
pirottealex 0:f0964760b5b2 40 }