main.cpp

00001 #include "mbed.h"
00002 #include "Pixy.h"
00003 #include "PixyLink.h"
00004 #define PERIOD 0.0001
00005 #define seuil_taille 3000 //seuil auquel le robot arrete d'avancer 
00006 #define K 0.2// coef erreur pour asservissement
00007 Serial pc(USBTX,USBRX);
00008 
00009 
00010 //variables globales
00011 
00012 float taille =0;
00013 
00014 //Programme principal
00015 uint16_t blocks;
00016 Pixy pixy = Pixy(p28,p27);
00017 int main()
00018 {
00019     
00020     int j=0;  
00021     
00022     pixy.setSerialOutput(&pc);
00023     int errorX = 0, errorY = 0,block;
00024     pc.printf("alive");
00025     while(1) {
00026 
00027         blocks = pixy.getBlocks();
00028 
00029         if(blocks) 
00030         {
00031             
00032             taille=pixy.blocks[j].width*pixy.blocks[j].height;
00033             errorX = (160-pixy.blocks[j].x);
00034             errorY = (100-pixy.blocks[j].y);
00035             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);
00036         }
00037 
00038         
00039     }
00040 }