[260] | 1 | #include "r2ca.h"
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[236] | 2 | #include "ESP8266.h"
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| 3 |
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| 4 | #include <SPI.h>
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| 5 | #include <Pixy.h>
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| 6 |
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| 7 | #include "../examples_gdef.h"
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| 8 |
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| 9 | #define WMODE_STATION
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| 10 |
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[260] | 11 | extern void task1_setup();
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[236] | 12 |
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| 13 | void setup()
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| 14 | {
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| 15 | int ret;
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| 16 |
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| 17 | Serial.println("Echo Server : Start!");
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| 18 | ret = WiFi.begin(Serial5, 115200);
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| 19 |
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| 20 | if(ret == 1) {
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| 21 | Serial.print("Cannot communicate with ESP8266.");
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| 22 | while(1);
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| 23 | } else if(ret == 2) {
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| 24 | Serial.println("FW Version mismatch.");
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| 25 | Serial.print("FW Version:");
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| 26 | Serial.println(WiFi.getVersion().c_str());
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| 27 | Serial.print("Supported FW Version:");
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| 28 | Serial.print(ESP8266_SUPPORT_VERSION);
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| 29 | while(1);
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| 30 | } else {
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| 31 | Serial.print("begin ok\r\n");
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| 32 | }
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| 33 |
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| 34 | Serial.print("FW Version:");
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| 35 | Serial.println(WiFi.getVersion().c_str());
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| 36 |
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| 37 | #ifdef WMODE_STATION
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| 38 | if (WiFi.setOprToStation()) {
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| 39 | Serial.print("to station ok\r\n");
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| 40 | } else {
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| 41 | Serial.print("to station err\r\n");
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| 42 | }
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| 43 |
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| 44 | if (WiFi.joinAP(STA_SSID, STA_PASSWORD)) {
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| 45 | Serial.print("Join AP success\r\n");
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| 46 | Serial.print("IP: ");
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| 47 | Serial.println(WiFi.getLocalIP().c_str());
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| 48 | } else {
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| 49 | Serial.print("Join AP failure\r\n");
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| 50 | while(1);
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| 51 | }
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| 52 | #else /* !WMODE_STATION */
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| 53 | if (WiFi.setOprToSoftAP()) {
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| 54 | Serial.print("to softap ok\r\n");
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| 55 | } else {
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| 56 | Serial.print("to softap err\r\n");
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| 57 | }
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| 58 | if(WiFi.setSoftAPParam(AP_SSID, AP_PASSWORD, 7, 0)){
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| 59 | Serial.print("Set SoftAP success\r\n");
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| 60 | Serial.print("IP: ");
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| 61 | Serial.println(WiFi.getLocalIP().c_str());
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| 62 | }
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| 63 | else {
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| 64 | Serial.print("Set SoftAP failure\r\n");
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| 65 | }
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| 66 | #endif /* WMODE_STATION */
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| 67 |
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| 68 | if (WiFi.enableMUX()) {
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| 69 | Serial.print("multiple ok\r\n");
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| 70 | } else {
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| 71 | Serial.print("multiple err\r\n");
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| 72 | while(1);
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| 73 | }
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| 74 |
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| 75 | if (WiFi.startTCPServer(80)) {
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| 76 | Serial.print("start tcp server ok\r\n");
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| 77 | } else {
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| 78 | Serial.print("start tcp server err\r\n");
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| 79 | while(1);
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| 80 | }
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| 81 |
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| 82 | if (WiFi.setTCPServerTimeout(60)) {
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| 83 | Serial.print("set tcp server timout 60 seconds\r\n");
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| 84 | } else {
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| 85 | Serial.print("set tcp server timout err\r\n");
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| 86 | while(1);
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| 87 | }
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| 88 |
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| 89 | Serial.print("setup end\r\n");
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| 90 |
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[260] | 91 | task1_setup();
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[236] | 92 | }
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| 93 |
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| 94 | #define MUX_NULL 0xff
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| 95 |
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| 96 | uint8_t mux_id_ptn;
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| 97 |
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| 98 | uint8_t mux_id = MUX_NULL;
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| 99 | uint8_t task1_mux_id = MUX_NULL;
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| 100 |
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| 101 |
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| 102 | uint16_t pixy_blocks = 0;
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| 103 | char pixy_buf[16][128];
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| 104 |
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| 105 | void loop()
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| 106 | {
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| 107 | char buf[128];
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| 108 | uint8_t pre_mux_id_ptn;
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| 109 |
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| 110 | delay(1);
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| 111 | /* Check Connection Status */
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| 112 | pre_mux_id_ptn = mux_id_ptn;
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| 113 |
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| 114 | if(!WiFi.getMuxCStatus(&mux_id_ptn)) {
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| 115 | Serial.println("getMuxCStatus(&mux_id_ptn) : Error!");
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| 116 | }
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| 117 | else {
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| 118 | if (pre_mux_id_ptn != mux_id_ptn) {
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| 119 | Serial.print("Connection Status changed! : 0x");
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| 120 | Serial.println(mux_id_ptn, HEX);
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| 121 | if (mux_id_ptn & 0x01) {
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| 122 | mux_id = 0;
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| 123 | }
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| 124 | if (mux_id_ptn & 0x02) {
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| 125 | task1_mux_id = 1;
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| 126 | }
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| 127 | }
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| 128 | }
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| 129 |
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| 130 | if (mux_id == MUX_NULL) {
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| 131 | return;
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| 132 | }
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| 133 |
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| 134 | if (!WiFi.isConnected(mux_id)) {
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| 135 | Serial.print("Echo Server : Port is closed: ");
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| 136 | Serial.println(mux_id);
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| 137 | mux_id = MUX_NULL;
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| 138 | return;
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| 139 | }
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| 140 |
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| 141 | if(pixy_blocks != 0) {
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| 142 | sprintf(buf, "Detected %d:\n", pixy_blocks);
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| 143 | WiFi.send(mux_id, (uint8_t*)buf, strlen(buf));
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| 144 | for (int j=0; j<pixy_blocks; j++){
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| 145 | WiFi.send(mux_id, (uint8_t*)pixy_buf[j], strlen(pixy_buf[j]));
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| 146 | }
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| 147 | pixy_blocks = 0;
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| 148 | }
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| 149 | }
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| 150 |
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| 151 | Pixy pixy;
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| 152 |
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| 153 | #define X_CENTER ((PIXY_MAX_X-PIXY_MIN_X)/2)
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| 154 | #define Y_CENTER ((PIXY_MAX_Y-PIXY_MIN_Y)/2)
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| 155 |
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| 156 | class ServoLoop
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| 157 | {
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| 158 | public:
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| 159 | ServoLoop(int32_t pgain, int32_t dgain);
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| 160 |
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| 161 | void update(int32_t error);
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| 162 |
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| 163 | int32_t m_pos;
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| 164 | int32_t m_prevError;
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| 165 | int32_t m_pgain;
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| 166 | int32_t m_dgain;
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| 167 | };
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| 168 |
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| 169 |
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| 170 | ServoLoop panLoop(300, 500);
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| 171 | ServoLoop tiltLoop(500, 700);
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| 172 |
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| 173 | ServoLoop::ServoLoop(int32_t pgain, int32_t dgain)
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| 174 | {
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| 175 | m_pos = PIXY_RCS_CENTER_POS;
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| 176 | m_pgain = pgain;
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| 177 | m_dgain = dgain;
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| 178 | m_prevError = 0x80000000L;
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| 179 | }
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| 180 |
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| 181 | void ServoLoop::update(int32_t error)
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| 182 | {
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| 183 | long int vel;
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| 184 | char buf[32];
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| 185 | if (m_prevError!=0x80000000)
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| 186 | {
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| 187 | vel = (error*m_pgain + (error - m_prevError)*m_dgain)>>10;
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| 188 | //sprintf(buf, "%ld\n", vel);
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| 189 | //Serial.print(buf);
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| 190 | m_pos += vel;
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| 191 | if (m_pos>PIXY_RCS_MAX_POS)
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| 192 | m_pos = PIXY_RCS_MAX_POS;
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| 193 | else if (m_pos<PIXY_RCS_MIN_POS)
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| 194 | m_pos = PIXY_RCS_MIN_POS;
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| 195 | }
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| 196 | m_prevError = error;
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| 197 | }
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| 198 |
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| 199 | void task1_setup()
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| 200 | {
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| 201 | Serial.print("PIXY Starting...\n");
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| 202 | pixy.init();
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| 203 | pixy.setServos(PIXY_RCS_CENTER_POS, PIXY_RCS_CENTER_POS);
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| 204 | }
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| 205 |
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[260] | 206 | void loop1()
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[236] | 207 | {
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| 208 | static int i = 0;
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| 209 | int j;
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| 210 | uint16_t blocks;
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| 211 | char buf[128];
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| 212 | int32_t panError, tiltError;
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| 213 |
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| 214 | blocks = pixy.getBlocks();
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| 215 |
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| 216 | if (blocks) {
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| 217 | panError = X_CENTER-pixy.blocks[0].x;
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| 218 | tiltError = pixy.blocks[0].y-Y_CENTER;
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| 219 |
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| 220 | panLoop.update(panError);
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| 221 | tiltLoop.update(tiltError);
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| 222 |
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| 223 | pixy.setServos(panLoop.m_pos, tiltLoop.m_pos);
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| 224 | i++;
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| 225 |
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| 226 | // do this (print) every 50 frames because printing every
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| 227 | // frame would bog down the Arduino
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| 228 | if (i%50==0) {
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| 229 | sprintf(buf, "Detected %d:\n", blocks);
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| 230 | Serial.print(buf);
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| 231 | for (j=0; j<blocks; j++){
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| 232 | sprintf(buf, " block %d: ", j);
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| 233 | Serial.print(buf);
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| 234 | pixy.blocks[j].print();
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| 235 | }
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| 236 | if(pixy_blocks == 0) {
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| 237 | if (blocks > 16) {
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| 238 | blocks = 16;
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| 239 | }
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| 240 | pixy_blocks = blocks;
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| 241 | for (j=0; j<blocks; j++){
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| 242 | sprintf(pixy_buf[j], "sig: %d x: %d y: %d width: %d height: %d\n",
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| 243 | pixy.blocks[j].signature, pixy.blocks[j].x, pixy.blocks[j].y,
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| 244 | pixy.blocks[j].width, pixy.blocks[j].height);
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| 245 | }
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| 246 | }
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| 247 | }
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| 248 | }
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| 249 |
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| 250 | delay(10);
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| 251 | }
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