Alexandre Pirotte
/
pixy-Uart
toujours pour mes débiles
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?
User | Revision | Line number | New 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 | } |