mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
4e3199a9e9
commit
0fb7e82792
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@ -1,400 +1,400 @@
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/*
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Example of AP_OpticalFlow library.
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Code by Randy Mackay. DIYDrones.com
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*/
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <SPI.h> // Arduino SPI library
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#include "AP_OpticalFlow.h" // ArduCopter OpticalFlow Library
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////////////////////////////////////////////////////////////////////////////////
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// Serial ports
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////////////////////////////////////////////////////////////////////////////////
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//
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// Note that FastSerial port buffers are allocated at ::begin time,
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// so there is not much of a penalty to defining ports that we don't
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// use.
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//
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FastSerialPort0(Serial); // FTDI/console
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AP_OpticalFlow_ADNS3080 flowSensor; // for APM1
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//AP_OpticalFlow_ADNS3080_APM2 flowSensor(A3); // override chip select pin to use A3 if using APM2
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void setup()
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{
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Serial.begin(115200);
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Serial.println("ArduPilot Mega OpticalFlow library test ver 1.5");
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delay(1000);
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// flowSensor initialization
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if( flowSensor.init(true) == false ) {
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Serial.print("Failed to initialise ADNS3080 ");
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}
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flowSensor.set_orientation(AP_OPTICALFLOW_ADNS3080_PINS_FORWARD);
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flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_08_FOV);
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delay(1000);
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}
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//
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// display menu
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//
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void display_menu()
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{
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Serial.println();
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Serial.println("please choose from the following options:");
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Serial.println(" c - display all config");
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Serial.println(" f - set frame rate");
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Serial.println(" i - display image");
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Serial.println(" I - display image continuously");
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Serial.println(" m - display motion");
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Serial.println(" r - set resolution");
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Serial.println(" s - set shutter speed");
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Serial.println(" z - clear all motion");
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Serial.println(" a - frame rate auto/manual");
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Serial.println();
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}
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//
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// display config
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//
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void display_config()
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{
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Serial.print("Config: ");
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Serial.print(flowSensor.read_register(ADNS3080_CONFIGURATION_BITS),BIN);
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delayMicroseconds(50);
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Serial.print(",");
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Serial.print(flowSensor.read_register(ADNS3080_EXTENDED_CONFIG),BIN);
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delayMicroseconds(50);
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Serial.println();
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// product id
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Serial.print("\tproduct id: ");
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Serial.print(flowSensor.read_register(ADNS3080_PRODUCT_ID),HEX);
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delayMicroseconds(50);
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Serial.print(" (hex)");
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Serial.println();
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// frame rate
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Serial.print("\tframe rate: ");
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Serial.print(flowSensor.get_frame_rate());
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if( flowSensor.get_frame_rate_auto() == true ) {
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Serial.print(" (auto)");
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}else{
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Serial.print(" (manual)");
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}
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Serial.println();
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// resolution
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Serial.print("\tresolution: ");
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Serial.print(flowSensor.get_resolution());
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Serial.println();
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// shutter speed
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Serial.print("\tshutter speed: ");
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Serial.print(flowSensor.get_shutter_speed());
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if( flowSensor.get_shutter_speed_auto() ) {
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Serial.print(" (auto)");
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}else{
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Serial.print(" (manual)");
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}
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Serial.println();
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}
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//
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// set frame rate
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//
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void set_frame_rate()
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{
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int value;
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// frame rate
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Serial.print("frame rate: ");
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Serial.print(flowSensor.get_frame_rate());
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if( flowSensor.get_frame_rate_auto() == true ) {
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Serial.print(" (auto)");
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}else{
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Serial.print(" (manual)");
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}
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Serial.println();
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Serial.println("Choose new frame rate:");
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Serial.println("\ta) auto");
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Serial.println("\t2) 2000 f/s");
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Serial.println("\t3) 3000 f/s");
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Serial.println("\t4) 4000 f/s");
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Serial.println("\t5) 5000 f/s");
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Serial.println("\t6) 6400 f/s");
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Serial.println("\tx) exit (leave unchanged)");
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// get user input
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Serial.flush();
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while( !Serial.available() ) {
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delay(20);
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}
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value = Serial.read();
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if( value == 'a' || value == 'A')
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flowSensor.set_frame_rate_auto(true);
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if( value == '2' )
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flowSensor.set_frame_rate(2000);
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if( value == '3' )
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flowSensor.set_frame_rate(3000);
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if( value == '4' )
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flowSensor.set_frame_rate(4000);
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if( value == '5' )
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flowSensor.set_frame_rate(5000);
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if( value == '6' )
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flowSensor.set_frame_rate(6469);
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// display new frame rate
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Serial.print("frame rate: ");
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Serial.print(flowSensor.get_frame_rate());
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if( flowSensor.get_frame_rate_auto() == true ) {
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Serial.print(" (auto)");
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}else{
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Serial.print(" (manual)");
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}
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Serial.println();
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}
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// display_image - captures and displays image from flowSensor flowSensor
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void display_image()
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{
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Serial.println("image data --------------");
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flowSensor.print_pixel_data(&Serial);
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Serial.println("-------------------------");
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}
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// display_image - captures and displays image from flowSensor flowSensor
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void display_image_continuously()
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{
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int i;
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Serial.println("press any key to return to menu");
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Serial.flush();
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while( !Serial.available() ) {
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display_image();
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i=0;
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while( i<20 && !Serial.available() ) {
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delay(100); // give the viewer a bit of time to catchup
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i++;
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}
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}
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Serial.flush();
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}
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//
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// set resolutiojn
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//
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void set_resolution()
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{
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int value;
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int resolution = flowSensor.get_resolution();
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Serial.print("resolution: ");
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Serial.println(resolution);
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Serial.println("Choose new value:");
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Serial.println(" 1) 1600");
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Serial.println(" 4) 400");
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Serial.println(" x) exit");
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Serial.println();
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// get user input
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Serial.flush();
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while( !Serial.available() ) {
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delay(20);
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}
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value = Serial.read();
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// update resolution
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if( value == '1' ) {
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flowSensor.set_resolution(ADNS3080_RESOLUTION_1600);
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}
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if( value == '4' ) {
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flowSensor.set_resolution(ADNS3080_RESOLUTION_400);
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}
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Serial.print("new resolution: ");
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Serial.println(flowSensor.get_resolution());
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}
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//
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// set shutter speed
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//
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void set_shutter_speed()
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{
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int value;
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// shutter speed
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Serial.print("shutter speed: ");
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Serial.print(flowSensor.get_shutter_speed());
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if( flowSensor.get_shutter_speed_auto() == true ) {
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Serial.print(" (auto)");
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}else{
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Serial.print(" (manual)");
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}
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Serial.println();
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Serial.println("Choose new shutter speed:");
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Serial.println("\ta) auto");
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Serial.println("\t1) 1000 clock cycles");
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Serial.println("\t2) 2000 clock cycles");
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Serial.println("\t3) 3000 clock cycles");
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Serial.println("\t4) 4000 clock cycles");
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Serial.println("\t5) 5000 clock cycles");
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Serial.println("\t6) 6000 clock cycles");
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Serial.println("\t7) 7000 clock cycles");
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Serial.println("\t8) 8000 clock cycles");
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Serial.println("\t9) 9000 clock cycles");
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Serial.println("\tx) exit (leave unchanged)");
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// get user input
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Serial.flush();
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while( !Serial.available() ) {
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delay(20);
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}
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value = Serial.read();
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if( value == 'a' || value == 'A')
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flowSensor.set_shutter_speed_auto(true);
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if( value == '1' )
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flowSensor.set_shutter_speed(1000);
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if( value == '2' )
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flowSensor.set_shutter_speed(2000);
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if( value == '3' )
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flowSensor.set_shutter_speed(3000);
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if( value == '4' )
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flowSensor.set_shutter_speed(4000);
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if( value == '5' )
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flowSensor.set_shutter_speed(5000);
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if( value == '6' )
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flowSensor.set_shutter_speed(6000);
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if( value == '7' )
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flowSensor.set_shutter_speed(7000);
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if( value == '8' )
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flowSensor.set_shutter_speed(8000);
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if( value == '9' )
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flowSensor.set_shutter_speed(9000);
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// display new shutter speed
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Serial.print("shutter speed: ");
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Serial.print(flowSensor.get_shutter_speed());
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if( flowSensor.get_shutter_speed_auto() == true ) {
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Serial.print(" (auto)");
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}else{
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Serial.print(" (manual)");
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}
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Serial.println();
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}
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//
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// display motion - show x,y and squal values constantly until user presses a key
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//
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void display_motion()
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{
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boolean first_time = true;
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Serial.flush();
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// display instructions on how to exit
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Serial.println("press x to return to menu..");
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delay(1000);
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while( !Serial.available() ) {
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flowSensor.update();
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flowSensor.update_position(0,0,0,1,100);
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// check for errors
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if( flowSensor._overflow )
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Serial.println("overflow!!");
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// x,y,squal
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Serial.print("x/dx: ");
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Serial.print(flowSensor.x,DEC);
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Serial.print("/");
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Serial.print(flowSensor.dx,DEC);
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Serial.print("\ty/dy: ");
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Serial.print(flowSensor.y,DEC);
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Serial.print("/");
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Serial.print(flowSensor.dy,DEC);
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Serial.print("\tsqual:");
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Serial.print(flowSensor.surface_quality,DEC);
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Serial.println();
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first_time = false;
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// short delay
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delay(100);
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}
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// flush the serial
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Serial.flush();
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}
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void loop()
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{
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int value;
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// display menu to user
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display_menu();
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// wait for user to enter something
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while( !Serial.available() ) {
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delay(20);
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}
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// get character from user
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value = Serial.read();
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switch( value ) {
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case 'c' :
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// display all config
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display_config();
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break;
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case 'f' :
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// set frame rate
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set_frame_rate();
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break;
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case 'i' :
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// display image
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display_image();
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break;
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case 'I' :
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// display image continuously
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display_image_continuously();
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break;
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case 'm' :
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// display motion
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display_motion();
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break;
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case 'r' :
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// set resolution
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set_resolution();
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break;
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case 's' :
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// set shutter speed
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set_shutter_speed();
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break;
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case 'z' :
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// clear and reset everything
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flowSensor.clear_motion();
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break;
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default:
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Serial.println("unrecognised command");
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Serial.println();
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break;
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}
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}
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/*
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* Example of AP_OpticalFlow library.
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* Code by Randy Mackay. DIYDrones.com
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*/
|
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|
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#include <FastSerial.h>
|
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#include <AP_Common.h>
|
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
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#include <SPI.h> // Arduino SPI library
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#include "AP_OpticalFlow.h" // ArduCopter OpticalFlow Library
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////////////////////////////////////////////////////////////////////////////////
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// Serial ports
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Note that FastSerial port buffers are allocated at ::begin time,
|
||||
// so there is not much of a penalty to defining ports that we don't
|
||||
// use.
|
||||
//
|
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FastSerialPort0(Serial); // FTDI/console
|
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|
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AP_OpticalFlow_ADNS3080 flowSensor; // for APM1
|
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//AP_OpticalFlow_ADNS3080_APM2 flowSensor(A3); // override chip select pin to use A3 if using APM2
|
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|
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void setup()
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{
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Serial.begin(115200);
|
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Serial.println("ArduPilot Mega OpticalFlow library test ver 1.5");
|
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|
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delay(1000);
|
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|
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// flowSensor initialization
|
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if( flowSensor.init(true) == false ) {
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Serial.print("Failed to initialise ADNS3080 ");
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}
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flowSensor.set_orientation(AP_OPTICALFLOW_ADNS3080_PINS_FORWARD);
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flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_08_FOV);
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delay(1000);
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}
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//
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// display menu
|
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//
|
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void display_menu()
|
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{
|
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Serial.println();
|
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Serial.println("please choose from the following options:");
|
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Serial.println(" c - display all config");
|
||||
Serial.println(" f - set frame rate");
|
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Serial.println(" i - display image");
|
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Serial.println(" I - display image continuously");
|
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Serial.println(" m - display motion");
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Serial.println(" r - set resolution");
|
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Serial.println(" s - set shutter speed");
|
||||
Serial.println(" z - clear all motion");
|
||||
Serial.println(" a - frame rate auto/manual");
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Serial.println();
|
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}
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||||
|
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//
|
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// display config
|
||||
//
|
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void display_config()
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{
|
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Serial.print("Config: ");
|
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Serial.print(flowSensor.read_register(ADNS3080_CONFIGURATION_BITS),BIN);
|
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delayMicroseconds(50);
|
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Serial.print(",");
|
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Serial.print(flowSensor.read_register(ADNS3080_EXTENDED_CONFIG),BIN);
|
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delayMicroseconds(50);
|
||||
Serial.println();
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|
||||
// product id
|
||||
Serial.print("\tproduct id: ");
|
||||
Serial.print(flowSensor.read_register(ADNS3080_PRODUCT_ID),HEX);
|
||||
delayMicroseconds(50);
|
||||
Serial.print(" (hex)");
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||||
Serial.println();
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||||
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||||
// frame rate
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||||
Serial.print("\tframe rate: ");
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||||
Serial.print(flowSensor.get_frame_rate());
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if( flowSensor.get_frame_rate_auto() == true ) {
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Serial.print(" (auto)");
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}else{
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Serial.print(" (manual)");
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}
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Serial.println();
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||||
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// resolution
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Serial.print("\tresolution: ");
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Serial.print(flowSensor.get_resolution());
|
||||
Serial.println();
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// shutter speed
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Serial.print("\tshutter speed: ");
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Serial.print(flowSensor.get_shutter_speed());
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if( flowSensor.get_shutter_speed_auto() ) {
|
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Serial.print(" (auto)");
|
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}else{
|
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Serial.print(" (manual)");
|
||||
}
|
||||
Serial.println();
|
||||
}
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||||
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||||
//
|
||||
// set frame rate
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||||
//
|
||||
void set_frame_rate()
|
||||
{
|
||||
int value;
|
||||
|
||||
// frame rate
|
||||
Serial.print("frame rate: ");
|
||||
Serial.print(flowSensor.get_frame_rate());
|
||||
if( flowSensor.get_frame_rate_auto() == true ) {
|
||||
Serial.print(" (auto)");
|
||||
}else{
|
||||
Serial.print(" (manual)");
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
Serial.println("Choose new frame rate:");
|
||||
Serial.println("\ta) auto");
|
||||
Serial.println("\t2) 2000 f/s");
|
||||
Serial.println("\t3) 3000 f/s");
|
||||
Serial.println("\t4) 4000 f/s");
|
||||
Serial.println("\t5) 5000 f/s");
|
||||
Serial.println("\t6) 6400 f/s");
|
||||
Serial.println("\tx) exit (leave unchanged)");
|
||||
|
||||
// get user input
|
||||
Serial.flush();
|
||||
while( !Serial.available() ) {
|
||||
delay(20);
|
||||
}
|
||||
value = Serial.read();
|
||||
|
||||
if( value == 'a' || value == 'A')
|
||||
flowSensor.set_frame_rate_auto(true);
|
||||
if( value == '2' )
|
||||
flowSensor.set_frame_rate(2000);
|
||||
if( value == '3' )
|
||||
flowSensor.set_frame_rate(3000);
|
||||
if( value == '4' )
|
||||
flowSensor.set_frame_rate(4000);
|
||||
if( value == '5' )
|
||||
flowSensor.set_frame_rate(5000);
|
||||
if( value == '6' )
|
||||
flowSensor.set_frame_rate(6469);
|
||||
|
||||
// display new frame rate
|
||||
Serial.print("frame rate: ");
|
||||
Serial.print(flowSensor.get_frame_rate());
|
||||
if( flowSensor.get_frame_rate_auto() == true ) {
|
||||
Serial.print(" (auto)");
|
||||
}else{
|
||||
Serial.print(" (manual)");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
// display_image - captures and displays image from flowSensor flowSensor
|
||||
void display_image()
|
||||
{
|
||||
Serial.println("image data --------------");
|
||||
flowSensor.print_pixel_data(&Serial);
|
||||
Serial.println("-------------------------");
|
||||
}
|
||||
|
||||
// display_image - captures and displays image from flowSensor flowSensor
|
||||
void display_image_continuously()
|
||||
{
|
||||
int i;
|
||||
Serial.println("press any key to return to menu");
|
||||
|
||||
Serial.flush();
|
||||
|
||||
while( !Serial.available() ) {
|
||||
display_image();
|
||||
i=0;
|
||||
while( i<20 && !Serial.available() ) {
|
||||
delay(100); // give the viewer a bit of time to catchup
|
||||
i++;
|
||||
}
|
||||
}
|
||||
|
||||
Serial.flush();
|
||||
}
|
||||
|
||||
//
|
||||
// set resolutiojn
|
||||
//
|
||||
void set_resolution()
|
||||
{
|
||||
int value;
|
||||
int resolution = flowSensor.get_resolution();
|
||||
Serial.print("resolution: ");
|
||||
Serial.println(resolution);
|
||||
Serial.println("Choose new value:");
|
||||
Serial.println(" 1) 1600");
|
||||
Serial.println(" 4) 400");
|
||||
Serial.println(" x) exit");
|
||||
Serial.println();
|
||||
|
||||
// get user input
|
||||
Serial.flush();
|
||||
while( !Serial.available() ) {
|
||||
delay(20);
|
||||
}
|
||||
value = Serial.read();
|
||||
|
||||
// update resolution
|
||||
if( value == '1' ) {
|
||||
flowSensor.set_resolution(ADNS3080_RESOLUTION_1600);
|
||||
}
|
||||
if( value == '4' ) {
|
||||
flowSensor.set_resolution(ADNS3080_RESOLUTION_400);
|
||||
}
|
||||
|
||||
Serial.print("new resolution: ");
|
||||
Serial.println(flowSensor.get_resolution());
|
||||
}
|
||||
|
||||
//
|
||||
// set shutter speed
|
||||
//
|
||||
void set_shutter_speed()
|
||||
{
|
||||
int value;
|
||||
|
||||
// shutter speed
|
||||
Serial.print("shutter speed: ");
|
||||
Serial.print(flowSensor.get_shutter_speed());
|
||||
if( flowSensor.get_shutter_speed_auto() == true ) {
|
||||
Serial.print(" (auto)");
|
||||
}else{
|
||||
Serial.print(" (manual)");
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
Serial.println("Choose new shutter speed:");
|
||||
Serial.println("\ta) auto");
|
||||
Serial.println("\t1) 1000 clock cycles");
|
||||
Serial.println("\t2) 2000 clock cycles");
|
||||
Serial.println("\t3) 3000 clock cycles");
|
||||
Serial.println("\t4) 4000 clock cycles");
|
||||
Serial.println("\t5) 5000 clock cycles");
|
||||
Serial.println("\t6) 6000 clock cycles");
|
||||
Serial.println("\t7) 7000 clock cycles");
|
||||
Serial.println("\t8) 8000 clock cycles");
|
||||
Serial.println("\t9) 9000 clock cycles");
|
||||
Serial.println("\tx) exit (leave unchanged)");
|
||||
|
||||
// get user input
|
||||
Serial.flush();
|
||||
while( !Serial.available() ) {
|
||||
delay(20);
|
||||
}
|
||||
value = Serial.read();
|
||||
|
||||
if( value == 'a' || value == 'A')
|
||||
flowSensor.set_shutter_speed_auto(true);
|
||||
if( value == '1' )
|
||||
flowSensor.set_shutter_speed(1000);
|
||||
if( value == '2' )
|
||||
flowSensor.set_shutter_speed(2000);
|
||||
if( value == '3' )
|
||||
flowSensor.set_shutter_speed(3000);
|
||||
if( value == '4' )
|
||||
flowSensor.set_shutter_speed(4000);
|
||||
if( value == '5' )
|
||||
flowSensor.set_shutter_speed(5000);
|
||||
if( value == '6' )
|
||||
flowSensor.set_shutter_speed(6000);
|
||||
if( value == '7' )
|
||||
flowSensor.set_shutter_speed(7000);
|
||||
if( value == '8' )
|
||||
flowSensor.set_shutter_speed(8000);
|
||||
if( value == '9' )
|
||||
flowSensor.set_shutter_speed(9000);
|
||||
|
||||
// display new shutter speed
|
||||
Serial.print("shutter speed: ");
|
||||
Serial.print(flowSensor.get_shutter_speed());
|
||||
if( flowSensor.get_shutter_speed_auto() == true ) {
|
||||
Serial.print(" (auto)");
|
||||
}else{
|
||||
Serial.print(" (manual)");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
//
|
||||
// display motion - show x,y and squal values constantly until user presses a key
|
||||
//
|
||||
void display_motion()
|
||||
{
|
||||
boolean first_time = true;
|
||||
Serial.flush();
|
||||
|
||||
// display instructions on how to exit
|
||||
Serial.println("press x to return to menu..");
|
||||
delay(1000);
|
||||
|
||||
while( !Serial.available() ) {
|
||||
flowSensor.update();
|
||||
flowSensor.update_position(0,0,0,1,100);
|
||||
|
||||
// check for errors
|
||||
if( flowSensor._overflow )
|
||||
Serial.println("overflow!!");
|
||||
|
||||
// x,y,squal
|
||||
Serial.print("x/dx: ");
|
||||
Serial.print(flowSensor.x,DEC);
|
||||
Serial.print("/");
|
||||
Serial.print(flowSensor.dx,DEC);
|
||||
Serial.print("\ty/dy: ");
|
||||
Serial.print(flowSensor.y,DEC);
|
||||
Serial.print("/");
|
||||
Serial.print(flowSensor.dy,DEC);
|
||||
Serial.print("\tsqual:");
|
||||
Serial.print(flowSensor.surface_quality,DEC);
|
||||
Serial.println();
|
||||
first_time = false;
|
||||
|
||||
// short delay
|
||||
delay(100);
|
||||
}
|
||||
|
||||
// flush the serial
|
||||
Serial.flush();
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
int value;
|
||||
|
||||
// display menu to user
|
||||
display_menu();
|
||||
|
||||
// wait for user to enter something
|
||||
while( !Serial.available() ) {
|
||||
delay(20);
|
||||
}
|
||||
|
||||
// get character from user
|
||||
value = Serial.read();
|
||||
|
||||
switch( value ) {
|
||||
|
||||
case 'c':
|
||||
// display all config
|
||||
display_config();
|
||||
break;
|
||||
|
||||
case 'f':
|
||||
// set frame rate
|
||||
set_frame_rate();
|
||||
break;
|
||||
|
||||
case 'i':
|
||||
// display image
|
||||
display_image();
|
||||
break;
|
||||
|
||||
case 'I':
|
||||
// display image continuously
|
||||
display_image_continuously();
|
||||
break;
|
||||
|
||||
case 'm':
|
||||
// display motion
|
||||
display_motion();
|
||||
break;
|
||||
|
||||
case 'r':
|
||||
// set resolution
|
||||
set_resolution();
|
||||
break;
|
||||
|
||||
case 's':
|
||||
// set shutter speed
|
||||
set_shutter_speed();
|
||||
break;
|
||||
|
||||
case 'z':
|
||||
// clear and reset everything
|
||||
flowSensor.clear_motion();
|
||||
break;
|
||||
|
||||
default:
|
||||
Serial.println("unrecognised command");
|
||||
Serial.println();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue