Crystal Huynh / Mbed 2 deprecated pixy_test

code for testing the pixy

Dependencies:   mbed

main.cpp@0:214d306295fa, 2017-05-30 (annotated)

Committer:
huynh270
Date:
Tue May 30 09:56:04 2017 +0000
Revision:
0:214d306295fa
hello

Who changed what in which revision?

UserRevisionLine numberNew contents of line
huynh270 0:214d306295fa 1 #include "mbed.h"
huynh270 0:214d306295fa 2 #include "Pixy.h"
huynh270 0:214d306295fa 3 #include "PID_Control.h"
huynh270 0:214d306295fa 4
huynh270 0:214d306295fa 5 //------------------------------------
huynh270 0:214d306295fa 6 // Example for PIxy UART connection.
huynh270 0:214d306295fa 7 // Driver version 0.2
huynh270 0:214d306295fa 8 // BUGS::
huynh270 0:214d306295fa 9 // DO NOT USE PRINTF IN MAIN LOOP FOR PROPER OPERATION
huynh270 0:214d306295fa 10 // Pixy connected by UART (PA_9 and PA_10) with 460800 Baud
huynh270 0:214d306295fa 11 // Sample tries to center the recognised object between the pixy cam
huynh270 0:214d306295fa 12 //------------------------------------
huynh270 0:214d306295fa 13
huynh270 0:214d306295fa 14 //communication
huynh270 0:214d306295fa 15 Serial pc(USBTX, USBRX);
huynh270 0:214d306295fa 16 Serial cam(PA_9, PA_10);
huynh270 0:214d306295fa 17
huynh270 0:214d306295fa 18 DigitalOut myled(LED1);
huynh270 0:214d306295fa 19
huynh270 0:214d306295fa 20 //motor stuff
huynh270 0:214d306295fa 21 DigitalOut enableMotorDriver(PB_2);
huynh270 0:214d306295fa 22 PwmOut pwmL(PA_8);
huynh270 0:214d306295fa 23 PwmOut pwmR(PA_9);
huynh270 0:214d306295fa 24
huynh270 0:214d306295fa 25 Pixy pixy(cam);
huynh270 0:214d306295fa 26
huynh270 0:214d306295fa 27 int main()
huynh270 0:214d306295fa 28 {
huynh270 0:214d306295fa 29 PID_Control pid;
huynh270 0:214d306295fa 30
huynh270 0:214d306295fa 31 pid.setPIDValues( 0.01f, 0.0000f, 0.000000f, 0.3f, -0.3f, 1000);
huynh270 0:214d306295fa 32
huynh270 0:214d306295fa 33 pc.baud( 115200 );
huynh270 0:214d306295fa 34 pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
huynh270 0:214d306295fa 35 pwmR.period(0.00005f);
huynh270 0:214d306295fa 36
huynh270 0:214d306295fa 37 //Wait untill pixy is ready
huynh270 0:214d306295fa 38 wait( 2.0f);
huynh270 0:214d306295fa 39
huynh270 0:214d306295fa 40 //enable motors
huynh270 0:214d306295fa 41 enableMotorDriver = 1;
huynh270 0:214d306295fa 42
huynh270 0:214d306295fa 43 //start while loop
huynh270 0:214d306295fa 44 while(1) {
huynh270 0:214d306295fa 45 wait( 0.005f );
huynh270 0:214d306295fa 46 if( pixy.objectDetected() && pixy.getSignature() == 1) {
huynh270 0:214d306295fa 47 float e = 160-pixy.getX();
huynh270 0:214d306295fa 48 float diff = pid.calc( e, 0.005f );
huynh270 0:214d306295fa 49 pwmL = 0.5f - diff;
huynh270 0:214d306295fa 50 pwmR = 0.5f - diff;
huynh270 0:214d306295fa 51 } else {
huynh270 0:214d306295fa 52 pwmL = 0.5f ;
huynh270 0:214d306295fa 53 pwmR = 0.5f;
huynh270 0:214d306295fa 54 }
huynh270 0:214d306295fa 55 }
huynh270 0:214d306295fa 56 }