Mechatronics Robotics / Mbed 2 deprecated BrobotV1

These are the core files for the Robot at Team conception.

Dependencies:   mbed UniServ

Pixy.cpp@17:ec52258b9472, 2017-06-07 (annotated)

Committer:
obrie829
Date:
Wed Jun 07 11:35:59 2017 +0000
Revision:
17:ec52258b9472
Parent:
1:ff0674b96cc5 
v18

Who changed what in which revision?

UserRevisionLine numberNew contents of line
obrie829 0:eba74e7a229b 1 #include "Pixy.h"
obrie829 1:ff0674b96cc5 2
obrie829 1:ff0674b96cc5 3 Pixy::Pixy(Serial& _cam) : cam(_cam), detects(0)
obrie829 0:eba74e7a229b 4 {
obrie829 17:ec52258b9472 5 cam.baud( 230400 );
obrie829 17:ec52258b9472 6 //cam.baud( 460800 );
obrie829 0:eba74e7a229b 7 cam.attach(this, &Pixy::rxCallback, Serial::RxIrq);
obrie829 0:eba74e7a229b 8 }
obrie829 1:ff0674b96cc5 9
obrie829 1:ff0674b96cc5 10
obrie829 0:eba74e7a229b 11 // This function is called when a character goes into the RX buffer.
obrie829 0:eba74e7a229b 12 void Pixy::rxCallback()
obrie829 0:eba74e7a229b 13 {
obrie829 0:eba74e7a229b 14 static const int buffersize = 256;
obrie829 0:eba74e7a229b 15 static int startPoint = 0;
obrie829 0:eba74e7a229b 16 static uint8_t buffer[buffersize] = {};
obrie829 0:eba74e7a229b 17 static bool startFound = false;
obrie829 0:eba74e7a229b 18 static int ii = 1;
obrie829 1:ff0674b96cc5 19
obrie829 0:eba74e7a229b 20 while( cam.readable() ) {
obrie829 0:eba74e7a229b 21 buffer[ii] = cam.getc();
obrie829 0:eba74e7a229b 22 if( buffer[ii-1] == 85 && (buffer[ii] == 170 ) ) {
obrie829 0:eba74e7a229b 23 startPoint = ii-1;
obrie829 1:ff0674b96cc5 24
obrie829 0:eba74e7a229b 25 //check if detection was on the edge of buffer. Skip package if so.
obrie829 0:eba74e7a229b 26 if( ii<(buffersize-14))
obrie829 0:eba74e7a229b 27 startFound = true;
obrie829 0:eba74e7a229b 28 else
obrie829 0:eba74e7a229b 29 ii = 1;
obrie829 1:ff0674b96cc5 30
obrie829 0:eba74e7a229b 31 detects++;
obrie829 0:eba74e7a229b 32 }
obrie829 0:eba74e7a229b 33 ++ii;
obrie829 1:ff0674b96cc5 34
obrie829 0:eba74e7a229b 35 //reset ii
obrie829 0:eba74e7a229b 36 if( ii>=(buffersize-1))
obrie829 0:eba74e7a229b 37 ii = 1;
obrie829 0:eba74e7a229b 38 }
obrie829 1:ff0674b96cc5 39
obrie829 0:eba74e7a229b 40 //start not found, reset ii to 1
obrie829 0:eba74e7a229b 41 if( !startFound && ii >= 3 || ii >= (buffersize-1)) {
obrie829 0:eba74e7a229b 42 ii = 1;
obrie829 0:eba74e7a229b 43 return;
obrie829 0:eba74e7a229b 44 }
obrie829 1:ff0674b96cc5 45
obrie829 0:eba74e7a229b 46 //start is found but not enough bytes received - return
obrie829 0:eba74e7a229b 47 if( (ii-startPoint) <= 13 )
obrie829 0:eba74e7a229b 48 return;
obrie829 1:ff0674b96cc5 49
obrie829 0:eba74e7a229b 50 //copy memory to pixy struct
obrie829 0:eba74e7a229b 51 memcpy( &pixy, buffer + startPoint+2, 12);
obrie829 1:ff0674b96cc5 52
obrie829 0:eba74e7a229b 53 //reset variables
obrie829 0:eba74e7a229b 54 startFound = false;
obrie829 0:eba74e7a229b 55 ii = 1;
obrie829 0:eba74e7a229b 56 }
obrie829 1:ff0674b96cc5 57
obrie829 1:ff0674b96cc5 58 /**
obrie829 1:ff0674b96cc5 59 returns the width of the detected object
obrie829 1:ff0674b96cc5 60 **/
obrie829 1:ff0674b96cc5 61 int Pixy::getWidth( )
obrie829 1:ff0674b96cc5 62 {
obrie829 1:ff0674b96cc5 63 return pixy.width;
obrie829 1:ff0674b96cc5 64 }
obrie829 1:ff0674b96cc5 65
obrie829 1:ff0674b96cc5 66 /**
obrie829 1:ff0674b96cc5 67 returns the height of the detected object
obrie829 1:ff0674b96cc5 68 **/
obrie829 1:ff0674b96cc5 69 int Pixy::getHeight( )
obrie829 1:ff0674b96cc5 70 {
obrie829 1:ff0674b96cc5 71 return pixy.height;
obrie829 1:ff0674b96cc5 72 }
obrie829 1:ff0674b96cc5 73
obrie829 1:ff0674b96cc5 74 /**
obrie829 1:ff0674b96cc5 75 returns the Y coordinates in respect to the pixy recorded image
obrie829 1:ff0674b96cc5 76 **/
obrie829 1:ff0674b96cc5 77 int Pixy::getY( )
obrie829 1:ff0674b96cc5 78 {
obrie829 1:ff0674b96cc5 79 return pixy.y;
obrie829 1:ff0674b96cc5 80 }
obrie829 1:ff0674b96cc5 81
obrie829 1:ff0674b96cc5 82 /**
obrie829 1:ff0674b96cc5 83 returns the Y coordinates in respect to the pixy recorded image
obrie829 1:ff0674b96cc5 84 **/
obrie829 1:ff0674b96cc5 85 int Pixy::getX( )
obrie829 0:eba74e7a229b 86 {
obrie829 0:eba74e7a229b 87 return pixy.x;
obrie829 0:eba74e7a229b 88 }
obrie829 1:ff0674b96cc5 89
obrie829 1:ff0674b96cc5 90
obrie829 1:ff0674b96cc5 91 /**
obrie829 1:ff0674b96cc5 92 returns the signature of the detected object
obrie829 1:ff0674b96cc5 93 **/
obrie829 0:eba74e7a229b 94 int Pixy::getSignature()
obrie829 0:eba74e7a229b 95 {
obrie829 0:eba74e7a229b 96 return pixy.signature;
obrie829 0:eba74e7a229b 97 }
obrie829 1:ff0674b96cc5 98
obrie829 1:ff0674b96cc5 99 /**
obrie829 1:ff0674b96cc5 100 returns 1 if an object has detectd
obrie829 1:ff0674b96cc5 101 **/
obrie829 1:ff0674b96cc5 102 bool Pixy::objectDetected()
obrie829 1:ff0674b96cc5 103 {
obrie829 1:ff0674b96cc5 104 bool ret = false;
obrie829 1:ff0674b96cc5 105 static int oldDetection = 0;
obrie829 1:ff0674b96cc5 106 ret = (detects != oldDetection);
obrie829 1:ff0674b96cc5 107 oldDetection = detects;
obrie829 1:ff0674b96cc5 108 return ret;
obrie829 1:ff0674b96cc5 109 }