FRC - Hackathon Pixy
Diff: Pixy.h
- Revision:
- 5:d395fe0fb0e0
- Parent:
- 2:90355c600404
- Child:
- 6:f16f250fe2cb
--- a/Pixy.h Tue May 22 17:15:30 2018 +0000 +++ b/Pixy.h Thu May 31 17:24:52 2018 +0000 @@ -97,7 +97,7 @@ /** * \union T_pixyCCData - * \brief Structured type to match pixy Color Code bloc organisation + * \brief Overlaped type to access a structured pixy Color Code bloc type with both byte and structured * \param CCBloc (T_pixyCCBloc) : Color Code bloc structured element * \param tab[14] (Byte) : Byte access to the Color Code bloc */ @@ -108,8 +108,8 @@ /** * \union T_pixyNMData - * \brief Structured type to match pixy normal bloc organisation - * \param CCBloc (T_pixyCCBloc) : Normal bloc structured element + * \brief Overlaped type to access a structured pixy Normal bloc type with both byte and structured + * \param NMBloc (T_pixyNMBloc) : Normal bloc structured element * \param tab[12] (Byte) : Byte access to the normal bloc */ typedef union { @@ -117,20 +117,19 @@ T_pixyNMBloc NMbloc; } T_pixyNMData; - typedef enum {none, begin, normal, colorCode, doubleZero} T_pixyState; + typedef enum {none, begin, normal, colorCode, doubleZero, waitForStart} T_pixyState; typedef union { - lWord mot; - Byte tab[4]; - } T_tmpBuffer; + lWord motlong; + Word mot[2]; + Byte octet[4]; + } T_msgBuffer; typedef union { Word mot; - Byte tab[2]; - } T_structBuffer; + Byte octet[2]; + } T_wordBuffer; - - /** * Pixy : CMU CAM 5 - Smart camera * More informations at http://cmucam.org/projects/cmucam5 @@ -139,7 +138,7 @@ protected : - Serial* _cmucam; + Serial* _Pixy; public : @@ -201,13 +200,13 @@ /** * Return the number of objects (normal and ColorCode) that have been - * received from the PIXY during the last frame + * received from the PIXY and stored in the FIFO during the last frame * - * @param nbNM (passed by reference) : number of normal object detected - * @param nbCC (passed by reference) : number of color code object detected + * @param nbNM (int - passed by reference) : number of normal object detected + * @param nbCC (int - passed by reference) : number of color code object detected * @return 0 if sucessfull, * -1 if no PIXY is talking, - * -2 if object(s) have been lost (from previous frame or from actual) + * -2 sucessfull but object(s) have been lost from previous frames (missed frame) or from actual (too many objects) */ int detectedObject (int* nbNM, int* nbCC); @@ -233,9 +232,20 @@ * Set the Brightness of the Pixy * * @param brightness level (between 0 and 255) - * @return 0 if successfull, else -1 + */ + void setBrightness (Byte brightness); + + /** + * Gives information about a new image taken by Pixy. + * @return 0 if no new image or 1 if there is a new image */ - int setBrightness (Byte brightness); + int checkNewImage (void); + + /** + * Gives information about a detected Pixy. + * @return -1 if no Pixy detected or 0 if Pixy detected + */ + int checkPixy (void); private :