configure Pixy to detect a coloured object and seek it (coloured object)

Page last updated 31 Oct 2019, by Swalahdin Muhammad. 0 replies

  1. include "mbed.h"
  2. include "CMPS03.h"
  3. include "CNY70.h"
  4. include "VMA306.h"
  5. include "Pixy.h"
  6. include "PID.h"
  1. define PI 3.1415926535898

Serial pc (PA_2, PA_3, 115200); PID motor (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);

CMPS03 boussole (PC_4);

CNY70 ligneD (PC_3); CNY70 ligneG (PC_2); CNY70 exterior (PA_7);

VMA306 ultraSon (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);

PIXY pixy (PA_0, PA_1, 115200);

InterruptIn button (PC_13);

DigitalOut led1 (PA_5); DigitalOut led2 (PD_2); DigitalOut unused1 (PB_10); DigitalOut unused2 (PA_15); DigitalOut unused3 (PA_12); DigitalIn unused4 (PA_4, PullUp); DigitalIn unused5 (PB_0, PullUp); DigitalIn unused6 (PC_1, PullUp); DigitalIn unused7 (PC_0, PullUp);

Timer timer;

typedef enum {IDLE, WAIT1, WAIT2, HOW, GET, TURN} T_state;

main () { int x_center = 159; int error; T_pixyNMBloc NMBloc; int nbNM, nbCC; double VL=0, VR=0; T_state state=IDLE; timer.start();

while (1) { motor.setSpeed(VL, VR); switch(state) { case IDLE: if(pixy.checkPixy()==0) state=WAIT1; break; case WAIT1: if (button==0) state= WAIT2; break; case WAIT2: VL=0; VR=0; if (pixy.checkNewImage()) state=HOW; break; case HOW: pixy.detectedObject(&nbNM,&nbCC); if (nbNM==1) state= GET; else state= WAIT2; break; case GET: NMBloc=pixy.getNMBloc(); state=TURN; timer.reset(); break; case TURN: error = NMBloc.x - x_center; VL= error; VR= - error; if(pixy.checkNewImage()) state= HOW; if (timer.read()>0.5f) state=WAIT2; break;

}swith }while 1 }main=#include "mbed.h"

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