int main()
{
VideoCapture webcam(3);
Mat frame;
webcam.set(CV_CAP_PROP_FRAME_WIDTH, height);
webcam.set(CV_CAP_PROP_FRAME_HEIGHT, width);
if (serialPort.connect("//dev//ttymxc3")==0) {
cout << "Can't open serial port" << endl;
return -1;
}
while(true)
{
timer.reset();
webcam.read(frame);
cv::blur( frame, frame, Size(4,4) );
imshow("Blured",frame);
Mat frame_can = Mat::zeros( frame.size(), CV_8UC3 );
cv::Canny( frame, frame_can, 50, 200, 3 );
detect_lines(frame_can, frame, "Canny");
waitKey(5);
cout << "Timer: " << timer.elapsed() << endl;
}
return 0;
}
/// <summary>
/// Entry point for the application
/// </summary>
/// <param name="hInstance">handle to the application instance</param>
/// <param name="hPrevInstance">always 0</param>
/// <param name="lpCmdLine">command line arguments</param>
/// <param name="nCmdShow">whether to display minimized, maximized, or normally</param>
/// <returns>status</returns>
int APIENTRY wWinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPWSTR lpCmdLine, int nCmdShow)
{
port1.connect(L"\\\\.\\COM17");
port2.connect2(L"\\\\.\\COM21"); //neu
CSkeletonBasics application;
application.Run(hInstance, nCmdShow);
}
int main()
{
Dualshock3 joystick;
joystick.connect();
int err=serialPort.connect("//dev//ttyACM0");
send_command('n', 0);
while( 1 ) /* infinite loop */
{
joystick.getData();
if (joystick.button[16]){
serialPort.disconnect();
close( joy_fd );
system("sixad --stop &");
exit(0);
}
joystick.getData();
// Detect conflits and process input
if (joystick.axis[12] != 0 && joystick.axis[13] != 0){
// Rumbleeeeeee
send_command('n', 0);
}else if (joystick.axis[12] == 0 && joystick.axis[13] != 0){
//input_processing(FWD, joystick.axis[13]);
cout << "frente" << endl;
send_command('f', joystick.axis[12]/547);
}else if(joystick.axis[12] != 0 && joystick.axis[13] == 0){
//input_processing(BCK, joystick.axis[12]);
send_command('b', joystick.axis[13]/547);
}else{
send_command('n', 0);
}
joystick.getData();
if (joystick.axis[0] > 0){
send_command('r', joystick.axis[0]);
}else if(joystick.axis[0] < 0){
send_command('l', abs(joystick.axis[0]));
}else{
send_command('l', 0);
}
}
serialPort.disconnect();
close( joy_fd ); /* too bad we never get here */
return 0;
}
int main() {
cout << "AX Control starts" << endl; // prints AX Control
int error=0;
int idAX12=0;
SerialPort serialPort;
if (serialPort.connect("/dev/ttyUSB0")!=0) {
printf ("Serial port opened\n");
// Sync Write: 0xFF 0xFF 0xFE(broadcast) [(L+1) * N + 4] 0x83(instruction) 0x20(location) 0x02(lenght of the data) 0x01(id1) lowvel1 hivel1 0x02(id2) lowvel2 hivel2 chk
// This one sends vels to both motors with orientation
sendVels(1,512,1, 2,512,0, &serialPort);
serialPort.disconnect();
} else {
printf ("nCan't open serial port");
error=-1;
}
cout << endl << "AX Control ends" << endl; // prints AX Control
return error;
}
int main() {
Gamepad gpad(0);
SerialPort serial;
Sleep(1000);
serial.connect("\\\\.\\COM11");
while (true) {
gpad.update();
float lx = scaleInput(gpad.getStickLeftX());
float ly = scaleInput(gpad.getStickLeftY());
float rx = scaleInput(gpad.getStickRightX());
float ry = scaleInput(gpad.getStickRightY());
printf("lx = %f ly =%f rx = %f ry = %f\n", lx, ly, rx, ry);
int16_t v[2];
v[0] = ly * 255;
v[1] = ry * 255;
int ret = serial.WriteData((char*)v, 4);
Sleep(20);
}
}
