trixy_robot_pixy流程图

right();

如果Millis()-encoderTime=5

left();

panServoPos += 10;

objectSize = 20000

开始

speedRight = speedRight-2;

如果blocks==1

如果lastPulseL 0

panServoPos panServoCenter-200

panServoPos = panServoCenter+200

否则

speedLeft = speedLeft-2;

pixy.blocks[0].y 90 && tiltServoPos tiltServoDown

0

如果millis() - pixyTime = 20

}

objectSize = pixy.blocks[0].width * pixy.blocks[0].height;

pixy.blocks[0].y 110 && tiltServoPos tiltServoUp

void Rencoder(){ rpulse=millis()-rtime; // time between last state change and this state change rtime=millis(); // update ltime with time of most recent state change //rcount++;}

encoderTime=millis();lastPulseL = millis() - ltime;lastPulseR = millis() - rtime;

pixy.blocks[0].x 170 && panServoPos panServoLeft

pixy.blocks[0].x 150 && panServoPos panServoRight

tiltServoPos += 10;

如果lastPulseR0

forward();

中断子程序

panServo.writeMicroseconds(panServoPos); tiltServo.writeMicroseconds(tiltServoPos); Serial.print(\"pixy.blocks[0].x = \"); Serial.println(pixy.blocks[0].x); Serial.print(\"pixy.blocks[0].y = \"); Serial.println(pixy.blocks[0].y); Serial.print(\"pixy.blocks[0].width = \"); Serial.println(pixy.blocks[0].width); Serial.print(\"pixy.blocks[0].height = \"); Serial.println(pixy.blocks[0].height); Serial.print(\"objectSize = \"); Serial.println(objectSize);

centerServo(); stop();

设置引脚：H桥：使能：EN1=3; EN2=14\t 方向：directure1=13; directure2=15;中端：lENcoder=10接到0号口; rEncoder=11接 到1号口;舵机：panServo为22； tiltServo为23

objectSize 20000

行走子程序

panServoPos = panServoCenter-200

变量：blocks; objectSize; pixyTime; \t 舵机位置：panServoPos; tiltServoPos; \t encoderTime; ltime; rtime; \t lastPulseL; lastPulseR; 定量：speedLeft=100; speedRight=100;\t motorTime=100;\t lpulse=121; rpulse=121;

void Lencoder(){ lpulse=millis()-ltime; // time between last state change and this state change ltime=millis(); // update ltime with time of most recent state change //lcount++;}

left();

pixyTime = millis();blocks=pixy.getBlocks();

panServoPos -= 10;

tiltServoPos -= 10;

backward();

speedRight = speedRright+2;

如果objectSize 400

speedLeft = speedLeft+2;