ArduinoVisionCode.txt

//
// begin license header
//
// This file is part of Pixy CMUcam5 or "Pixy" for short
//
// All Pixy source code is provided under the terms of the
// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
// Those wishing to use Pixy source code, software and/or
// technologies under different licensing terms should contact us at
// cmucam@cs.cmu.edu. Such licensing terms are available for
// all portions of the Pixy codebase presented here.
//
// end license header
//
// This sketch is a good place to start if you're just getting started with 
// Pixy and Arduino.  This program simply prints the detected object blocks 
// (including color codes) through the serial console.  It uses the Arduino's 
// ICSP SPI port.  For more information go here:
//
// https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:hooking_up_pixy_to_a_microcontroller_-28like_an_arduino-29
//
#include <Pixy2.h>
#include <math.h>
// This is the main Pixy object 
Pixy2 pixy;
double currentArea = 0, currentX = 0, currentSetPoint = 0;
void setup()
{
  Serial.begin(115200);
  Serial.print("Starting...\n");
  pixy.init();
}
void loop()
{ 
  int i;
  char str[80];
  // grab blocks!
  pixy.ccc.getBlocks();
  // If there are detect blocks, print them!
  if (pixy.ccc.numBlocks)
  {
    Serial.print("Detected ");
    Serial.println(pixy.ccc.numBlocks+"\n\t");
    for (i=0; i<pixy.ccc.numBlocks; i++)
    {
      if(pixy.ccc.blocks[i].m_width * pixy.ccc.blocks[i].m_height > currentArea)
      {
        sprintf(str, "%d|%d", pixy.ccc.blocks[i].m_x, 200+50*(pixy.ccc.blocks[i].m_y / 208));
        Serial.println(str);
        currentArea = pixy.ccc.blocks[i].m_width * pixy.ccc.blocks[i].m_height;
        currentX = pixy.ccc.blocks[i].m_x;
        currentSetPoint = 200+50*(pixy.ccc.blocks[i].m_y / 208);
      }
      else
      {
        sprintf(str, "%d|%d", currentX, currentSetPoint);
        Serial.println(str);
      }
    }
  }
  else
  {
    currentArea = 0;
    currentX = 0;
  }
}