RobotikaBrno - RBControl
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platformio.ini [code] [env:alksesp32] platform = espressif32 board = alksesp32 framework = arduino upload_speed = 921600 monitor_speed = 115200 ; monitor_port = COM9 [/code] main.cpp [code] #include <Arduino.h> #include <Wire.h> #include "Pixy2I2C.h" #include "time.hpp" #include "Pixy2Line.h" static const uint32_t i2c_freq = 400000; Pixy2I2C pixy; static const uint8_t Pixy_addr = 0x54; byte L_R_light = 0; // cervena dioda indikuje provoz void setup() { Serial.begin (115200); Serial.print ("Starting.../n"); //Wire.begin // inicializace Pixy2 pixy.init(Pixy_addr); Serial.println (pixy.changeProg("line")); pinMode(L_R, OUTPUT); } timeout send_data { msec(500) }; // timeout zajistuje posilani dat do PC kazdych 500 ms void loop() { if (send_data) { // if časovač send_data dosáhne nastavené hodnoty, proveď send_data.ack(); // nuluje časovač send_data if (L_R_light == 0) L_R_light = 1; else L_R_light = 0; digitalWrite(L_R, L_R_light); // blikani LED indikuje provoz pixy.line.getMainFeatures(); if (pixy.line.numVectors) pixy.line.vectors->print(); if (pixy.line.numIntersections) pixy.line.intersections->print(); } } [/code]
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