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main.ino
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/*
/ \
_ ) (( )) (
(@) /|\ ))_(( /|\
|-| / | \ (/\|/\) / | \ (@)
| | -------------------/--|-voV---\`|'/--Vov-|--\---------------------|-|
|-| '^` (o o) '^` | |
| | `\Y/' |-|
|-| Authors | |
| | Vujovic Jelena & Mrdalj Denis |-|
|-| | |
| | |-|
|_|___________________________________________________________________| |
(@) l /\ / ( ( \ /\ l `\|-|
l / V \ \ V \ l (@)
l/ _) )_ \I
`\ /'
'
*/
#include <SPI.h> //Including header for SPI communication
#include <Pixy.h> //Including header for PIXY camera
/* Defining pins */
#define PIND2 2
#define PIND3 3
#define PIND4 4
#define PIND5 5
/* Defining colors */
#define GREEN 1
#define YELLOW 2
#define BLUE 3
#define ORANGE 5
// This is the main Pixy object
Pixy pixy;
void setup()
{
//Defining pins as outputs
pinMode(PIND2, OUTPUT);
pinMode(PIND3, OUTPUT);
pinMode(PIND4, OUTPUT);
pinMode(PIND5, OUTPUT);
Serial.begin(9600); //Defining Baud Rate
Serial.print("Starting...\n"); //Useless garbage
int first_block_x;
int second_block_x;
int third_block_x;
int first_block_signature;
int second_block_signature;
int third_block_signature;
int signature_array[3] = {0,0,0}; //Array in which we sort the signatures according to x-axis
pixy.init(); //Pixy define function
}
void loop()
{
uint16_t blocks;
signature_array[3] = {0,0,0};
blocks = pixy.getBlocks(); //Getting all the information about the blocks
first_block_x = pixy.blocks[0].x; //Variables for easier code understanding
second_block_x = pixy.blocks[1].x;
third_block_x = pixy.blocks[2].x;
first_block_signature = pixy.blocks[0].signature;
second_block_signature = pixy.blocks[1].signature;
third_block_signature = pixy.blocks[2].signature;
if (blocks == 3){ //Only for three colors without black
if (first_block_x > second_block_x && first_block_x > third_block_x) { //Sorting of an array by x-axis (if first block is larger than the rest)
signature_array[0] = first_block_signature;
if (second_block_x > third_block_x){
signature_array[1] = second_block_signature;
signature_array[2] = third_block_signature;
}else{
signature_array[2] = second_block_signature;
signature_array[1] = third_block_signature;
}
}
if (second_block_x > first_block_x && second_block_x > third_block_x) { //Sorting of an array by x-axis (if second block is larger than the rest)
signature_array[0] = second_block_signature;
if (first_block_x > third_block_x){
signature_array[1] = first_block_signature;
signature_array[2] = third_block_signature;
}else{
signature_array[2] = first_block_signature;
signature_array[1] = third_block_signature;
}
}
if (third_block_x > second_block_x && third_block_x > first_block_x) { //Sorting of an array by x-axis (if third block is larger than the rest)
signature_array[0] = third_block_signature;
if (second_block_x > first_block_x){
signature_array[1] = second_block_signature;
signature_array[2] = first_block_signature;
}else{
signature_array[2] = second_block_signature;
signature_array[1] = first_block_signature;
}
}
//Sending a signal according to combinations provided (3 blocks)
if(signature_array[2]== GREEN && signature_array[1] == YELLOW && signature_array[0] == BLUE) //Combination num.2
digitalWrite(PIND3, HIGH);
if(signature_array[2]== BLUE && signature_array[1] == GREEN && signature_array[0] == ORANGE){ //Combination num.5
digitalWrite(PIND2, HIGH);
digitalWrite(PIND4, HIGH);
}
if(signature_array[2]== GREEN && signature_array[1] == ORANGE && signature_array[0] == YELLOW){ //Combination num.6
digitalWrite(PIND3, HIGH);
digitalWrite(PIND4, HIGH);
}
if(signature_array[2]== ORANGE && signature_array[1] == BLUE && signature_array[0] == YELLOW){ //Combination num.10
digitalWrite(PIND5, HIGH);
digitalWrite(PIND3, HIGH);
}
}
if (blocks==2){ //For two colors, ignoring black, doesn't matter if it's there or nah
if (first_block_x > second_block_x){ //Sorting of an array by x-axis (if first block is larger)
signature_array[0] = first_block_signature;
signature_array[1] = second_block_signature;
}
if (second_block_x > first_block_x){ //Sorting of an array by x-axis (if second block is larger)
signature_array[1] = first_block_signature;
signature_array[0] = second_block_signature;
}
//Sending a signal according to combinations provided (2 blocks)
if(signature_array[1] == ORANGE && signature_array[0] == GREEN){ //Combination num.1
digitalWrite(PIND2, HIGH);
}
if(signature_array[1] == YELLOW && signature_array[0] == BLUE){ //Combination num.3
digitalWrite(PIND2, HIGH);
digitalWrite(PIND3, HIGH);
}
if(signature_array[1] == BLUE && signature_array[0] == ORANGE){ //Combination num.4
digitalWrite(PIND4, HIGH);
}
if(signature_array[1] == YELLOW && signature_array[0] == GREEN){ //Combination num.7
digitalWrite(PIND2, HIGH);
digitalWrite(PIND3, HIGH);
digitalWrite(PIND4, HIGH);
}
if(signature_array[1] == BLUE && signature_array[0] == GREEN){ //Combination num.8
digitalWrite(PIND5, HIGH);
}
if(signature_array[1] == YELLOW && signature_array[0] == ORANGE){ //Combination num.9
digitalWrite(PIND2, HIGH);
digitalWrite(PIND5, HIGH);
}
}
}