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 main(void)
{
pixyInit(SRAM3_LOC, &LR0[0], sizeof(LR0));
cc_init(g_chirpUsb);
#if 0
uint32_t a = 0xffffffff;
uint32_t b = 0;
uint32_t c = b - a;
printf("*** %d\n", c);
#endif
#if 0
uint32_t i = 0;
uint32_t timer;
setTimer(&timer);
while(1)
{
if (getTimer(timer)>1000000)
{
printf("%d\n", i++);
setTimer(&timer);
}
}
#endif
#if 1
uint16_t buf[16];
spi_setCallback(transmitCallback);
while(1)
{
if (spi_receive(buf, 1))
{
printf("%x\n", buf[0]);
if (buf[0]!=0xa5a5)
spi_sync();
}
}
#endif
#if 0
// 0 pan, 0 to 1000 clockwise
// 1 tilt, 0 to 1000 tilt up
while(1)
{
// bring up
servoMove(1, 650, 900, r(800, 50), 0, 550, 450);
servoMove(1, 900, 1000, 600, 0, 450, 350);
servoMove(1, 1000, 1025, 100, 0, 350, r(320, 20));
servoMove(1, 1025, 1000, 150, 0, 320, r(360, 20));
delayus(2000000);
// bring down
servoMove(1, 1000, 900, r(600, 50), 0, 350, 460);
servoMove(1, 900, 650, r(850, 50), 0, 450, 550);
servoMove(1, 650, 670, 100, 0, 550, r(520, 20));
servoMove(1, 670, 650, 150, 0, 520, r(550, 20));
delayus(1500000);
// test 1
servoMove(1, 650, 900, r(800, 50), 0, 550, 450);
servoMove(1, 900, 1000, 600, 0, 450, 350);
servoMove(1, 1000, 1025, 100, 0, 350, r(320, 20));
servoMove(1, 1025, 1000, 150, 0, 320, r(360, 20));
servoMove(1, 1000, 900, r(600, 50), 0, 350, 460);
servoMove(1, 900, 650, r(850, 50), 0, 450, 550);
servoMove(1, 650, 670, 100, 0, 550, r(520, 20));
servoMove(1, 670, 650, 150, 0, 520, r(550, 20));
// test 2
servoMove(1, 650, 900, r(800, 50), 0, 550, 450);
servoMove(1, 900, 1000, 600, 0, 450, 350);
servoMove(1, 1000, 1025, 100, 0, 350, r(320, 20));
servoMove(1, 1025, 1000, 150, 0, 320, r(360, 20));
servoMove(1, 1000, 900, r(600, 50), 0, 350, 460);
servoMove(1, 900, 650, r(850, 50), 0, 450, 550);
servoMove(1, 650, 670, 100, 0, 550, r(520, 20));
servoMove(1, 670, 650, 150, 0, 520, r(550, 20));
delayus(5000000);
}
#endif
#if 0
while(1)
{
g_chirpUsb->service();
handleButton();
}
#endif
#if 0
g_chirpM0->getProc("getRLSFrame", (ProcPtr)getRLSFrameCallback);
blobProcess();
#endif
#if 0
#define SERVO
int32_t result, row;
uint32_t i, j, numRls, startCol, length, model, xsum, ysum, n, xavg, yavg;
uint32_t *qVals = (uint32_t *)RLS_MEMORY;
//motor(0, 0);
// to switch between servo and motor--
// uncomment servo or motor below, respectively
// for motor, change pixy_init.cpp, SCT init
// LPC_SCT->MATCH[0].L = 4000;
// LPC_SCT->MATCHREL[0].L = 4000;
// this will increase the pwm freq and reduce the latency
// (these values are normally 20000)
// Servo connectors --- black wire down, yellow up.
// tilt: edge
// pan: inner
// note, tilt servo has wire facing forward
j = 0;
while(1)
{
g_chirpUsb->service();
handleButton();
if (g_loop)
{
//cc_getRLSFrame(qVals, RLS_MEMORY_SIZE, LUT_MEMORY, &numRls);
cc_getMaxBlob(NULL);
#if 0
for (i=0, row=-1, n=0, xsum=0, ysum=0; i<numRls; i++)
{
if (qVals[i]==0)
{
row++;
continue;
}
model = qVals[i]&0x03;
qVals[i] >>= 3;
startCol = qVals[i]&0x1ff;
qVals[i] >>= 9;
length = qVals[i]&0x1ff;
xsum += startCol + (length>>1);
ysum += row;
n++;
}
if (n>15)
{
xavg = xsum/n;
yavg = ysum/n;
}
else
{
xavg = XCENTER;
#ifdef SERVO
yavg = YCENTER;
#else
yavg = YTRACK;
#endif
}
#ifdef SERVO
servo(xavg, yavg);
#else
motor(xavg, yavg);
#endif
// printf("%d %d\n", xavg, yavg);
#endif
if (j%50==0)
printf("%d\n", j);
j++;
}
}
#endif
}
