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pixy_rcs_get_position

Pixy Software
#1

Hi Guys, I am trying to get the servo position from the PIXY in python. I would let pixy to track the object. The pan_tilt example works, but it sets the rc position, while I would like to use the function pixy_rcs_get_position (that is defined in the API). How do I include that function?

Thanks

#2

I reply myself: just modify the pixi.i file in order to include the wanted function during the compilation phase. In my case, I went into pixy/src/host and in the libpixiusb_swig folder I found the pixi.i file. I added the function declaration as

int pixy_rcs_get_position(uint8_t channel);

and then i use the .sh file to compile. Now I can refer to the function.

BUT… is taking 60 ms to read each channel (120 ms for both)… how could it be possible? Am I missing something?

#3

Hi Tiziano,
60 ms sounds high. It should take around 20ms. When doing image processing, Pixy isn’t servicing these kinds of requests with much priority. You might try stopping the processing by issuing a “stop” command. You can resume processing by issuing a “run” command. The response time should improve.

Hope this helps!

Edward

#4

Thanks, where I can find the stop and run command protocol? There is nothing in pixy.h (http://charmedlabs.github.io/pixy/pixy_8h.html)