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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();
+      }
+    }
+  }  
+}