A library for interfacing with the Pixy color recognition camera
Dependents: PixyCamera MbedOS_Robot_Team ManualControlFinal PlayBack ... more
Diff: Pixy.h
- Revision:
- 0:ef0e3c67dc5b
- Child:
- 1:6587541f3aa8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Pixy.h Mon Mar 14 00:35:23 2016 +0000 @@ -0,0 +1,75 @@ +#ifndef _PIXY_H +#define _PIXY_H + +#include "TPixy.h" +#include "TPixyInterface.h" + +#define X_CENTER ((PIXY_MAX_X-PIXY_MIN_X)/2) +#define Y_CENTER ((PIXY_MAX_Y-PIXY_MIN_Y)/2) + +class PixySPI : public TPixy<PixyInterfaceSPI> +{ +public: + PixySPI(SPI* spi, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL) : + 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: + ServoLoop(int32_t pgain, int32_t dgain); + void update(int32_t error); + + int32_t m_pos; + int32_t m_prevError; + int32_t m_pgain; + int32_t m_dgain; +}; + +template <class TPixyInterface> void runPanTiltDemo(TPixy<TPixyInterface>* pixy, Serial* serial) +{ + 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