SmartVehicle-Basis
SmartFactory
Vision.h
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1 // /**
2 // * @file Vision.h
3 // * @brief TODO Library for mechatronic component vision.
4 // *
5 // * The vision module consists of a pixy-cam and a servo motor.
6 // * The cam searches for target-objects and adjusts its position to that direction.
7 // * Afterwarts it sends information for course adaption.
8 // *
9 // * @author Glenn Huber (glenn.patrick.huber@hsr.ch)
10 // *
11 // * @version 1.1 - Added Doxygen-Documentation - Luca Mazzoleni (luca.mazzoleni@hsr.ch) - 2019-03-20
12 // * @version 1.0 - BA FTS FS 2018
13 // *
14 // * @date 2019-03-20
15 // * @copyright Copyright (c) 2019
16 // *
17 // */
18 
19 // #ifndef vision_h
20 // #define vision_h
21 
22 // #include "Arduino.h"
23 // #include "Configuration.h"
24 // #include "LogConfiguration.h"
25 // #include "Modular.h"
26 // #include "PixyI2C.h"
27 // #include "Servo.h"
28 // #include "Wire.h"
29 
30 // /**
31 // * @brief
32 // *
33 // */
34 // struct VisionState {
35 // int target; ///<
36 // int servoAngle; ///<
37 // bool targetDetected = false; ///<
38 // bool reset = false; ///<
39 // };
40 
41 // /**
42 // * @brief
43 // *
44 // */
45 // class Vision : public Component {
46 // public:
47 // /**
48 // * @brief Construct a new Vision object
49 // *
50 // * @param startAngle -
51 // * @param servoPin -
52 // * @param dddelay -
53 // * @param toleranceL -
54 // * @param toleranceR -
55 // */
56 // Vision(int startAngle, int servoPin, int dddelay, int toleranceL, int toleranceR);
57 
58 // /**
59 // * @brief
60 // *
61 // * @param state -
62 // */
63 // void loop(VisionState *state);
64 
65 // /**
66 // * @brief
67 // *
68 // * @param angle - right(0 degree)-staight(90 degree)-left(180 degree)
69 // *
70 // * @todo this is the same servo as in Sonar.. but somehow with other parameter?
71 // *
72 // */
73 // void turnVision(int angle);
74 
75 // /**
76 // * @brief Testfunction for Vision-Class
77 // *
78 // * 0 - run all tests \n
79 // * 1 - run turnVision-Servo test right(0 degree)-staight(90 degree)-left(180 degree)-turn \n
80 // *
81 // * @param test - Choose which test to run
82 // */
83 // void Test(const int test);
84 
85 // /**
86 // * @brief reset Vision
87 // *
88 // */
89 // void reset(VisionState *state);
90 
91 // VisionState visionState; ///<
92 
93 // protected:
94 // Servo visionServo; ///<
95 // PixyI2C pixy; ///<
96 
97 // int toleranceLeft; ///<
98 // int toleranceRight; ///<
99 
100 // int target1; ///<
101 // int target2; ///<
102 // int target3; ///<
103 // int target4; ///<
104 // int target5; ///<
105 // int target6; ///<
106 // int target7; ///<
107 // int target8; ///<
108 // int targetFound; ///<
109 // int targetFound1; ///<
110 // int targetFound2; ///<
111 // int targetFound3; ///<
112 // int targetFound4; ///<
113 // int ddelay; ///<
114 // int failCounter; ///<
115 // int _servoPin; ///<
116 // };
117 
118 // #endif