int blobsSetup()
{
uint8_t c;
// setup camera mode
cam_setMode(CAM_MODE1);
#ifdef DA
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
#endif
// if there have been any parameter changes, we should regenerate the LUT (do it regardless)
g_blobs->m_clut.generateLUT();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
// flush serial receive queue
while(ser_getSerial()->receive(&c, 1));
g_state = 0; // reset recv state machine
return 0;
}
int ptSetup()
{
// setup camera mode
cam_setMode(CAM_MODE1);
// extend range of servos (handled in params)
// rcs_setLimits(0, -200, 200); (handled in rcservo params)
// rcs_setLimits(1, -200, 200); (handled in rcservo params)
// Increasing the PWM frequency makes the servos zippier.
// Pixy updates at 50 Hz, so a default servo update freq of 50 Hz
// adds significant latency to the control loop--- increasing to 100 Hz decreases this.
// Increasing to more than 130 Hz or so creates buzzing, prob not good for the servo.
// rcs_setFreq(100); (handled in rcservo params)
ptLoadParams();
g_panLoop.reset();
g_tiltLoop.reset();
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
return 0;
}
int blobsSetup()
{
// setup camera mode
cam_setMode(CAM_MODE1);
// setup spi
spi_setCallback(spiCallback);
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
return 0;
}
int blobsSetup()
{
// setup camera mode
cam_setMode(CAM_MODE1);
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
return 0;
}
int chaseSetup()
{
// setup camera mode
cam_setMode(CAM_MODE1);
chaseLoadParams();
rcs_setPos(LEFT_AXIS, RCS_CENTER_POS);
rcs_setPos(RIGHT_AXIS, RCS_CENTER_POS);
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
return 0;
}
int blobsSetup()
{
uint8_t c;
// setup camera mode
cam_setMode(CAM_MODE1);
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
// flush serial receive queue
while(ser_getSerial()->receive(&c, 1));
return 0;
}
void exec_resume()
{
g_qqueue->flush();
exec_runM0(g_progM0);
}
