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SPQR-Team-2019-REVAMPED
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new protocol for camera

pull/1/head
u-siri-ous 2020-01-20 18:43:51 +01:00
parent b3902caf29
commit 21d14cf878
2 changed files with 68 additions and 10 deletions
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7
include/data_source_camera.h
View File

@ -1,4 +1,7 @@
#pragma once
#define startp 0b01111111
#define endp 0b10000000
#define unkn 0b01101001
#include "data_source.h"
class DataSourceCamera : public DataSource{
@ -12,6 +15,10 @@ class DataSourceCamera : public DataSource{
int getValueAtk(bool);
int getValueDef(bool);
int count = 0, unkn_counter;
byte xb, yb, xy, yy, true_xb, true_xy, true_yb, true_yy;
bool data_received = false, start = false, end = false;
int goalOrientation, pAtk, pDef, imuOff, portx, valX, valY, valB, oldGoalX, oldGoalY, oldGoalB;
int cameraReady;
char value;

61
src/data_source_camera.cpp
View File

@ -4,7 +4,59 @@
DataSourceCamera::DataSourceCamera(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){}
void DataSourceCamera :: readSensor(){
portx = 999;
while(ser->available() > 0){
value = (byte)ser->read();
if(value==startp){
start=true;
count=0;
}
else if(value==endp){
end=true;
start=false;
data_received=false;
if(count==3) {
data_received=true;
xb=true_xb;
yb=true_yb;
xy=true_xy;
yy=true_yy;
}
}else{
if (count==0) xb=value;
else if (count==1) xy=value;
else if (count==2) yb=value;
else if (count==3) yy=value;
count++;
}
}
}
/*
for(int i=0;i<6;i++) reading[i]=(char)ser->read();
if(reading[0]==startp) start=true;
else if(reading[0]==endp && start==true) continue;
if(reading[1]==startp && (start==true || count==0)) continue; //ser->flush(); //ignoring data and continuing
else if (reading[1] == unkn) unkn_counter++;//xb = oldxb;
else reading[1]=xb;
count++;
if(reading[2]==startp && start==true) break;
else reading[2]=yb;
count++;
if(reading[3]==startp && start==true) break;
else if (reading[3] == unkn) unkn_counter++;//xy = oldxy; //tried to do for now
else reading[3]=xy;
count++;
if(reading[4]==startp && start==true) break;
else reading[4]=yy;
count++;
if(reading[5]==endp && count==4){
end=true;
data_received=true;
start=false;
}
*/
/* portx = 999;
while(ser->available() > 0) {
value = ser->read();
// if the incoming character is a 'Y', set the start packet flag
@ -62,10 +114,11 @@ void DataSourceCamera :: readSensor(){
}
}
}
*/
void DataSourceCamera :: postProcess(){
if (valY != -74)
/*if (valY != -74)
oldGoalY = valY;
if (valB != -74)
oldGoalB = valB;
@ -89,7 +142,7 @@ void DataSourceCamera :: postProcess(){
datavalid = 0;
cameraReady = 1; //attivo flag di ricezione pacchetto
}
}*/
}
int DataSourceCamera::getValueAtk(bool fixed){
@ -121,7 +174,6 @@ int DataSourceCamera::getValueDef(bool fixed){
void DataSourceCamera::test(){
goalOrientation = digitalRead(SWITCH_SX); //se HIGH attacco gialla, difendo blu
DEBUG.print(pAtk);
DEBUG.print(" | ");
DEBUG.print(fixCamIMU(pAtk));
@ -130,7 +182,6 @@ void DataSourceCamera::test(){
DEBUG.print(pDef);
DEBUG.print(" | ");
DEBUG.println(fixCamIMU(pDef));
delay(100);
}
int DataSourceCamera::fixCamIMU(int d){