Stephen Wilkins / TPixy-Interface

A library for interfacing with the Pixy color recognition camera

Dependents:   PixyCamera MbedOS_Robot_Team ManualControlFinal PlayBack ... more

Pixy.h@3:66df7d295245, 2016-03-14 (annotated)

Committer:
swilkins8
Date:
Mon Mar 14 18:53:43 2016 +0000
Revision:
3:66df7d295245
Parent:
2:fa582d9d91b5 
Completed comments/documentation for all classes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
swilkins8 0:ef0e3c67dc5b 1 #ifndef _PIXY_H
swilkins8 0:ef0e3c67dc5b 2 #define _PIXY_H
swilkins8 0:ef0e3c67dc5b 3
swilkins8 0:ef0e3c67dc5b 4 #include "TPixy.h"
swilkins8 0:ef0e3c67dc5b 5 #include "TPixyInterface.h"
swilkins8 0:ef0e3c67dc5b 6
swilkins8 0:ef0e3c67dc5b 7 #define X_CENTER ((PIXY_MAX_X-PIXY_MIN_X)/2)
swilkins8 0:ef0e3c67dc5b 8 #define Y_CENTER ((PIXY_MAX_Y-PIXY_MIN_Y)/2)
swilkins8 0:ef0e3c67dc5b 9
swilkins8 3:66df7d295245 10 /** The SPI Pixy interface for the Pixy camera
swilkins8 1:6587541f3aa8 11 * @code
swilkins8 1:6587541f3aa8 12 * #include "Pixy.h"
swilkins8 1:6587541f3aa8 13 * Serial serial(USBTX, USBRX);
swilkins8 1:6587541f3aa8 14 * SPI spi(p5, p6, p7);
swilkins8 1:6587541f3aa8 15 * PixySPI pixy(&spi, &serial);
swilkins8 3:66df7d295245 16 *
swilkins8 3:66df7d295245 17 * int main() {
swilkins8 3:66df7d295245 18 * runPanTiltDemo();
swilkins8 3:66df7d295245 19 * }
swilkins8 1:6587541f3aa8 20 * @endcode
swilkins8 1:6587541f3aa8 21 */
swilkins8 1:6587541f3aa8 22
swilkins8 0:ef0e3c67dc5b 23 class PixySPI : public TPixy<PixyInterfaceSPI>
swilkins8 0:ef0e3c67dc5b 24 {
swilkins8 0:ef0e3c67dc5b 25 public:
swilkins8 3:66df7d295245 26 /** Constructor for the PixySPI class
swilkins8 3:66df7d295245 27 * Instantiates a Pixy object that communicates via an SPI connection
swilkins8 3:66df7d295245 28 * @param SPI* spi the pointer to the SPI connection
swilkins8 3:66df7d295245 29 * @param Serial* serialOut the optional serial output pointer to print out Pixy camera data
swilkins8 3:66df7d295245 30 * @param int arg an optional integer argument used for custom implementations of the Pixy library
swilkins8 3:66df7d295245 31 */
swilkins8 0:ef0e3c67dc5b 32 PixySPI(SPI* spi, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL) :
swilkins8 0:ef0e3c67dc5b 33 TPixy<PixyInterfaceSPI>((new PixyInterfaceSPI(spi)), serialOut, arg) {}
swilkins8 0:ef0e3c67dc5b 34 };
swilkins8 0:ef0e3c67dc5b 35
swilkins8 0:ef0e3c67dc5b 36
swilkins8 0:ef0e3c67dc5b 37 /* Not Implemented */
swilkins8 0:ef0e3c67dc5b 38 /*
swilkins8 0:ef0e3c67dc5b 39 class PixyI2C : TPixy<PixyInterfaceI2C> {
swilkins8 0:ef0e3c67dc5b 40 public:
swilkins8 0:ef0e3c67dc5b 41 PixyI2C(I2C* i2c, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL) : i2cInterface(i2c), TPixy<PixyInterfaceI2C>(i2cInterface, serialOut, arg);
swilkins8 0:ef0e3c67dc5b 42 private:
swilkins8 0:ef0e3c67dc5b 43 TPixyInterface<I2C>* i2cInterface;
swilkins8 0:ef0e3c67dc5b 44 };
swilkins8 0:ef0e3c67dc5b 45 */
swilkins8 0:ef0e3c67dc5b 46
swilkins8 0:ef0e3c67dc5b 47 class ServoLoop
swilkins8 0:ef0e3c67dc5b 48 {
swilkins8 0:ef0e3c67dc5b 49 public:
swilkins8 1:6587541f3aa8 50 /** Constructor for a ServoLoop object
swilkins8 1:6587541f3aa8 51 * Creates a ServoLoop object for easy control of the Pixy servos
swilkins8 1:6587541f3aa8 52 * @param pgain the proportional gain for the control
swilkins8 1:6587541f3aa8 53 * @param dgain the derivative gain for the control
swilkins8 1:6587541f3aa8 54 */
swilkins8 0:ef0e3c67dc5b 55 ServoLoop(int32_t pgain, int32_t dgain);
swilkins8 1:6587541f3aa8 56 /** Update method for a ServoLoop object
swilkins8 1:6587541f3aa8 57 * Updates the m_pos variable for setting a Pixy servo
swilkins8 1:6587541f3aa8 58 * @param error the error between the center of the camera and the position of the tracking color
swilkins8 1:6587541f3aa8 59 */
swilkins8 0:ef0e3c67dc5b 60 void update(int32_t error);
swilkins8 0:ef0e3c67dc5b 61
swilkins8 0:ef0e3c67dc5b 62 int32_t m_pos;
swilkins8 0:ef0e3c67dc5b 63 int32_t m_prevError;
swilkins8 0:ef0e3c67dc5b 64 int32_t m_pgain;
swilkins8 0:ef0e3c67dc5b 65 int32_t m_dgain;
swilkins8 0:ef0e3c67dc5b 66 };
swilkins8 0:ef0e3c67dc5b 67
swilkins8 1:6587541f3aa8 68 /** Basic Pan/Tilt Demo code
swilkins8 1:6587541f3aa8 69 * Runs the Pan/Tilt demo code
swilkins8 1:6587541f3aa8 70 * @param pixy the pointer to the pixy object to run the demo on
swilkins8 1:6587541f3aa8 71 * @param serial the optional serial pointer to display output to
swilkins8 1:6587541f3aa8 72 */
swilkins8 1:6587541f3aa8 73 template <class TPixyInterface> void runPanTiltDemo(TPixy<TPixyInterface>* pixy, Serial* serial = NULL)
swilkins8 0:ef0e3c67dc5b 74 {
swilkins8 0:ef0e3c67dc5b 75 ServoLoop panLoop(-150, -300);
swilkins8 0:ef0e3c67dc5b 76 ServoLoop tiltLoop(200, 250);
swilkins8 0:ef0e3c67dc5b 77 if (serial != NULL) {
swilkins8 0:ef0e3c67dc5b 78 serial->printf("Starting...\n");
swilkins8 0:ef0e3c67dc5b 79 }
swilkins8 0:ef0e3c67dc5b 80 static int i = 0;
swilkins8 0:ef0e3c67dc5b 81 int j;
swilkins8 0:ef0e3c67dc5b 82 uint16_t blocks;
swilkins8 0:ef0e3c67dc5b 83 int32_t panError, tiltError;
swilkins8 0:ef0e3c67dc5b 84 pixy->init();
swilkins8 0:ef0e3c67dc5b 85 while(true) {
swilkins8 0:ef0e3c67dc5b 86 blocks = pixy->getBlocks();
swilkins8 0:ef0e3c67dc5b 87 if (blocks) {
swilkins8 0:ef0e3c67dc5b 88 panError = X_CENTER - pixy->blocks[0].x;
swilkins8 0:ef0e3c67dc5b 89 tiltError = pixy->blocks[0].y - Y_CENTER;
swilkins8 0:ef0e3c67dc5b 90
swilkins8 0:ef0e3c67dc5b 91 panLoop.update(panError);
swilkins8 0:ef0e3c67dc5b 92 tiltLoop.update(tiltError);
swilkins8 0:ef0e3c67dc5b 93
swilkins8 0:ef0e3c67dc5b 94 pixy->setServos(panLoop.m_pos, tiltLoop.m_pos);
swilkins8 0:ef0e3c67dc5b 95 i++;
swilkins8 0:ef0e3c67dc5b 96
swilkins8 0:ef0e3c67dc5b 97 if (i % 50 == 0 && serial != NULL) {
swilkins8 0:ef0e3c67dc5b 98 serial->printf("Detected %d:\n", blocks);
swilkins8 0:ef0e3c67dc5b 99 //toPC.printf(buf);
swilkins8 0:ef0e3c67dc5b 100 for (j = 0; j < blocks; j++) {
swilkins8 0:ef0e3c67dc5b 101 serial->printf(" block %d: ", j);
swilkins8 0:ef0e3c67dc5b 102 pixy->printBlock(pixy->blocks[j]);
swilkins8 0:ef0e3c67dc5b 103 }
swilkins8 0:ef0e3c67dc5b 104 }
swilkins8 0:ef0e3c67dc5b 105 }
swilkins8 0:ef0e3c67dc5b 106 }
swilkins8 0:ef0e3c67dc5b 107 }
swilkins8 0:ef0e3c67dc5b 108 #endif