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lib/pixy/examples/hello_world/hello_world.ino

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+//
+// 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 port.  For more information go here:
+//
+// http://cmucam.org/projects/cmucam5/wiki/Hooking_up_Pixy_to_a_Microcontroller_(like_an_Arduino)
+//
+// It prints the detected blocks once per second because printing all of the 
+// blocks for all 50 frames per second would overwhelm the Arduino's serial port.
+//
+   
+#include <SPI.h>  
+#include <Pixy.h>
+
+// This is the main Pixy object 
+Pixy pixy;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.print("Starting...\n");
+
+  pixy.init();
+}
+
+void loop()
+{ 
+  static int i = 0;
+  int j;
+  uint16_t blocks;
+  char buf[32]; 
+  
+  // grab blocks!
+  blocks = pixy.getBlocks();
+  
+  // If there are detect blocks, print them!
+  if (blocks)
+  {
+    i++;
+    
+    // do this (print) every 50 frames because printing every
+    // frame would bog down the Arduino
+    if (i%50==0)
+    {
+      sprintf(buf, "Detected %d:\n", blocks);
+      Serial.print(buf);
+      for (j=0; j<blocks; j++)
+      {
+        sprintf(buf, "  block %d: ", j);
+        Serial.print(buf); 
+        pixy.blocks[j].print();
+      }
+    }
+  }  
+}
+

lib/pixy/examples/i2c/i2c.ino

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+//
+// 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 like hello_world but uses I2C communications.  If you're
+// not sure what I2C is, run the hello_world sketch!
+//
+
+#include <Wire.h>
+#include <PixyI2C.h>
+
+
+PixyI2C pixy;
+// PixyI2C pixy(0x55); // You can set the I2C address through PixyI2C object 
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.print("Starting...\n");
+  
+  pixy.init();
+}
+
+
+void loop() 
+{ 
+  static int i = 0;
+  int j;
+  uint16_t blocks;
+  char buf[32]; 
+  
+  blocks = pixy.getBlocks();
+  
+  if (blocks)
+  {
+    i++;
+    
+    // do this (print) every 50 frames because printing every
+    // frame would bog down the Arduino
+    if (i%50==0)
+    {
+      sprintf(buf, "Detected %d:\n", blocks);
+      Serial.print(buf);
+      for (j=0; j<blocks; j++)
+      {
+        sprintf(buf, "  block %d: ", j);
+        Serial.print(buf); 
+        pixy.blocks[j].print();
+      }
+    }
+  }  
+}
+

lib/pixy/examples/led_cycle/led_cycle.ino

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+//
+// 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 demonstrates the setLED() function.  Running this sketch
+// will cycle the Pixy's RGB LED through its colors.   
+//
+
+#include <SPI.h>  
+#include <Pixy.h>
+
+Pixy pixy;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.print("Starting...\n");
+
+  pixy.init();
+}
+
+void loop() 
+{ 
+   uint32_t i=0;
+   uint8_t r, g, b;
+   
+   while(1)
+   {
+     // calculate r, g, b such that it cycles through the colors
+     r = i&0xff;
+     g = (i*3)&0xff;
+     b = (i/3)&0xff;
+     pixy.setLED(r, g, b);
+     // We need to delay here because serial requests are handled 
+     // every frame period (20ms). If we don't delay, we'll
+     // overrun Pixy's receive queue. But that's all OK because 
+     // we normally only update the LED once per frame anyway.
+     delay(20);
+     
+     i++;
+   }
+}
+
+

lib/pixy/examples/pantilt/pantilt.ino

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+//
+// 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 simple tracking demo that uses the pan/tilt unit.  For
+// more information, go here:
+//
+// http://cmucam.org/projects/cmucam5/wiki/Run_the_Pantilt_Demo
+//
+
+#include <SPI.h>  
+#include <Pixy.h>
+
+Pixy pixy;
+
+#define X_CENTER        ((PIXY_MAX_X-PIXY_MIN_X)/2)       
+#define Y_CENTER        ((PIXY_MAX_Y-PIXY_MIN_Y)/2)
+
+class ServoLoop
+{
+public:
+  ServoLoop(int32_t pgain, int32_t dgain);
+
+  void update(int32_t error);
+   
+  int32_t m_pos;
+  int32_t m_prevError;
+  int32_t m_pgain;
+  int32_t m_dgain;
+};
+
+
+ServoLoop panLoop(300, 500);
+ServoLoop tiltLoop(500, 700);
+
+ServoLoop::ServoLoop(int32_t pgain, int32_t dgain)
+{
+  m_pos = PIXY_RCS_CENTER_POS;
+  m_pgain = pgain;
+  m_dgain = dgain;
+  m_prevError = 0x80000000L;
+}
+
+void ServoLoop::update(int32_t error)
+{
+  long int vel;
+  char buf[32];
+  if (m_prevError!=0x80000000)
+  {	
+    vel = (error*m_pgain + (error - m_prevError)*m_dgain)>>10;
+    //sprintf(buf, "%ld\n", vel);
+    //Serial.print(buf);
+    m_pos += vel;
+    if (m_pos>PIXY_RCS_MAX_POS) 
+      m_pos = PIXY_RCS_MAX_POS; 
+    else if (m_pos<PIXY_RCS_MIN_POS) 
+      m_pos = PIXY_RCS_MIN_POS;
+  }
+  m_prevError = error;
+}
+
+
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.print("Starting...\n");
+  
+  pixy.init();
+}
+
+void loop()
+{ 
+  static int i = 0;
+  int j;
+  uint16_t blocks;
+  char buf[32]; 
+  int32_t panError, tiltError;
+  
+  blocks = pixy.getBlocks();
+  
+  if (blocks)
+  {
+    panError = X_CENTER-pixy.blocks[0].x;
+    tiltError = pixy.blocks[0].y-Y_CENTER;
+    
+    panLoop.update(panError);
+    tiltLoop.update(tiltError);
+    
+    pixy.setServos(panLoop.m_pos, tiltLoop.m_pos);
+    
+    i++;
+    
+    // do this (print) every 50 frames because printing every
+    // frame would bog down the Arduino
+    if (i%50==0) 
+    {
+      sprintf(buf, "Detected %d:\n", blocks);
+      Serial.print(buf);
+      for (j=0; j<blocks; j++)
+      {
+        sprintf(buf, "  block %d: ", j);
+        Serial.print(buf); 
+        pixy.blocks[j].print();
+      }
+    }
+  }  
+}
+

lib/pixy/examples/servo_move/servo_move.ino

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+//
+// 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 demonstrates the setServos() function.  Running this sketch
+// will move the servos to their limits, back and forth, back and forth. 
+//
+
+#include <SPI.h>  
+#include <Pixy.h>
+
+Pixy pixy;
+
+void setup()
+{
+
+  Serial.begin(9600);
+  Serial.print("Starting...\n");
+
+  pixy.init();
+}
+
+void loop() 
+{ 
+  Serial.println("Moving pan-tilt to max positions");
+  pixy.setServos(PIXY_RCS_MAX_POS, PIXY_RCS_MAX_POS);
+  delay(1000);
+
+  Serial.println("Moving pan-tilt to min positions");
+  pixy.setServos(PIXY_RCS_MIN_POS, PIXY_RCS_MIN_POS);
+  delay(1000);
+}
+
+

lib/pixy/examples/uart/uart.ino

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+//
+// 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 like hello_world but uses UART communications.  If you're
+// not sure what UART is, run the hello_world sketch!
+//
+// Note, the default baudrate for Pixy's UART communications is 19200.  Given 
+// the slow datarate and Arduino's shallow serial FIFO, this sletch sometimes
+// gets checksum errors, when more than 1 block is present.  This is because
+// printing more than 1 object block to the serial console (as this sketch does) 
+// causes the Arduino's serial FIFO to overrun, which leads to communication 
+// errors.  
+//
+
+#include "PixyUART.h"
+
+
+PixyUART pixy;
+
+void setup()
+{
+  Serial.begin(9600); // 9600 baud for the serial *console* (not for the UART connected to Pixy)
+  Serial.print("Starting...\n");
+  
+  pixy.init();
+}
+
+void loop()
+{
+  static int i = 0;
+  int j;
+  uint16_t blocks;
+  char buf[32]; 
+  
+  blocks = pixy.getBlocks();
+  
+  if (blocks)
+  {
+    i++;
+    
+   // do this (print) every 50 frames because printing every
+   // frame would bog down the Arduino
+   if (i%50==0)
+    {
+      sprintf(buf, "Detected %d:\n", blocks);
+      Serial.print(buf);
+      for (j=0; j<blocks; j++)
+      {
+        sprintf(buf, "  block %d: ", j);
+        Serial.print(buf); 
+        pixy.blocks[j].print();
+      }
+    }
+  }  
+}