<< return to Pixycam.com

a code to export the X and Y position of an object , 12-bit precise pan-tilt for Pixy

Pixy Software
#1

Hello

I am trying to wrote a code to export the X and Y position of an object with an arduino due. The X and Y positions are transformed to two servo-signals as pan-tilt for Pixy over SPI port.

i don’t know how to write a void loop , to tell servo,s to get x - y data position from Pixy to servo.write , how can i do that
pixy.blocks[i].x The x location of the center of the detected object (0 to 319)
pixy.blocks[i].y The y location of the center of the detected object (0 to 199)
can you take a look on the attached file please .

Best,

Erdal INCI

#2

// a program to drive to servomotors using the the X and Y position of 1 object with an arduino uno
#include <SPI.h>
#include <Pixy.h>
#include <Servo.h>

Pixy pixy; //pixy-object for detection of the object
Servo myServoX; //servo-object for motor X which positions according to the X-position
Servo myServoY; //servo-object for motor Y which positions according to the Y-position

int PositionXmotor; //integervalue from 544 to 2400 to position X-motor
int PositionYmotor; //integervalue from 544 to 2400 to position Y-motor

void setup()
{
myServoX.attach(3, 544, 2400); //motor 1 is controlled by PWM-signal on output 3
myServoY.attach(5, 544, 2400); //motor 2 is controlled by PWM-signal on output 5
}

void loop()
{
uint16_t blocks; //typicle pixycode
blocks = pixy.getBlocks(); //typicle pixycode
if (blocks!=0) //testing if pixy detected any objects
{ //this is executed if an object is detected
PositionXmotor=544+int(float(pixy.blocks[0].x)/3191856); //The x-position ranges from 0 tot 319. 0 will be equivalent to a Xmotorposition of 544 and 319 to 2400.
//To transform the Xpostion of the object you divide the Xposition by 319 and multiply it by 1856=2400-544.
//We have to add 544 because this is the minimal value for the motorposition
PositionYmotor=544+int(float(pixy.blocks[0].y)/1991856); //The y-position ranges from 0 tot 199. 0 will be equivalent to a Ymotorposition of 544 and 319 to 2400.
//To transform the Ypostion of the object you divide the Yposition by 199 and multiply it by 1856=2400-544.
//We have to add 544 because this is the minimal value for the motorposition
myServoX.write(PositionXmotor); //drive the Xmotor to the position
myServoY.write(PositionYmotor); //drive the Ymotor to the position
}
//in the case no object is detected the motors will keep their position
}

#3

Hello

my friend Bart he write a code for me :slight_smile:
but the code still not working
can you take a look on the attache file

Have a nice Day
Best,