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How to stop motors when object becomes near to the pixy

I’m working on a project in which the robot is supposed to use the pixy2 with integration with Arduino to detect table tennis balls on the floor and go for it then stop when it’s near, to allow the collection mechanism to collect the ball.

I have the below code, but it does not deliver the desired outcome.
Desired outcome:
1- To look in the room for the signature
2- To stop when the object is near, (Because I have a robot)
3- To start the robot with 0 speed.

I will appreciate anyone who may anyone assist me with the code.
Whatsapp number : +966 56 366 8519

Code:
#include <SPI.h>
#include <Pixy2.h>

Pixy2 pixy;
////////////////////////////////////////////////////////

// ENA IN1 IN2 IN3 IN4 ENB
int myPins[6] = {5, 6, 7, 8, 9, 10}; //ENA 5 //ENB 10
float deadZone = 0.15;
int baseSpeed = 0;

////////////////////////////////////////////////////////

int cont = 0;
int signature, x, y, width, height;
float cx, cy, area;

void setup() {
Serial.begin(115200);
Serial.print(“Starting…\n”);
pixy.init();
for (int i = 0; i < 6; i++) {
pinMode(myPins[i], OUTPUT);
}
}

void loop() {
float turn = pixyCheck();
if (turn > -deadZone && turn < deadZone) {
turn = 0;
}
if (turn < 0) {
moveRobot(-80, 170);
}
else if (turn > 0) {
moveRobot(170, -80);
}
else {

moveRobot(70, 70);

}
delay(1);
}

float pixyCheck() {
static int i = 0;
int j;
uint16_t blocks;
char buf[32];
// grab blocks!
blocks = pixy.ccc.getBlocks();

// If there are detect blocks, print them!
if (blocks)
{
signature = pixy.ccc.blocks[0].m_signature;
height = pixy.ccc.blocks[0].m_height;
width = pixy.ccc.blocks[0].m_width;
x = pixy.ccc.blocks[0].m_x;
y = pixy.ccc.blocks[0].m_y;
cx = (x + (width / 2));
cy = (y + (height / 2));
cx = mapfloat(cx, 0, 320, -1, 1);
cy = mapfloat(cy, 0, 200, 1, -1);
area = width * height;

   //     Serial.print("sig: ");
//        Serial.print(signature);
//        Serial.print(" x:");
 //       Serial.print(x);
//        Serial.print(" y:");
  //      Serial.print(y);
//        Serial.print(" width: ");
//        Serial.print(width);
//        Serial.print(" height: ");
//        Serial.print(height);
//        Serial.print(" cx: ");
        Serial.print(cx);
        Serial.print('%');
 //       Serial.print(" cy: ");
//        Serial.println(cy);

}
else {
cont += 1;
if (cont == 100) {
cont = 0;
cx = 0;
}
}
return cx;
}

float mapfloat(long x, long in_min, long in_max, long out_min, long out_max)
{
return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
}

void moveRobot(int leftSpeed, int rightSpeed)
{
if (leftSpeed >= 0) {
digitalWrite(myPins[1], 0);
digitalWrite(myPins[2], 1);
}
else {
digitalWrite(myPins[1], 1);
digitalWrite(myPins[2], 0);
}

if (rightSpeed >= 0) {
digitalWrite(myPins[3], 0);
digitalWrite(myPins[4], 1);
}
else {
digitalWrite(myPins[3], 1);
digitalWrite(myPins[4], 0);
}

analogWrite(myPins[0], abs(leftSpeed));
analogWrite(myPins[5], abs(rightSpeed));
}

Hi Zyad,

could you say more about what’s happening currently, and what you expect to be happening? More specifics would be helpful. Thanks!

Jesse