Delete feather_main_i2c.ino

Codes/Main Code/feather_main_i2c.ino

-#include <Wire.h>
-#include <Adafruit_MotorShield.h>
-#include "ArnholdMesh.h"
-#include <Arduino.h>
-#include <string>
-#include <vector>
-#include "LedPanel.h"
-#include "Camera.h"
-
-openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer.
-openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, consider making address and rate as constructor argument
-
-const int BAUD_RATE = 115200;
-const int MAX_SPEED = 255;
-const double RESOLUTION_W = 360.0;
-const double RESOLUTION_H = 240.0;
-int SEEKING_SPEED = 100;
-int FIND = 1; //based on the same code from openMV. Determine the color you want to find
-int NOMINAL_PERCENTAGE = 60; //in percent
-bool SEEKING =true;
-char newPTCL = '1';
-
-
-// Create the motor shield object with the default I2C address
-Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
-// Select motor ports
-Adafruit_DCMotor *motorVertical = AFMS.getMotor(1);
-Adafruit_DCMotor *motorLeft = AFMS.getMotor(2);
-Adafruit_DCMotor *motorRight = AFMS.getMotor(4);
-
-//ArnholdMesh thisNode;
-Camera cam(&interface);
-
-void setup() {
-  Serial.begin(BAUD_RATE);
-  Wire.begin();
-  cam.begin();
-  AFMS.begin();  // create with the default frequency 1.6KHz
-  interface.begin();
-  //thisNode.init();
-  //thisNode.mesh.onReceive(receivedCallback);
-}
-
-void loop() {
-  if (Serial.available()){
-    char test = Serial.read();
-    Serial.println(test);
-    if (test == '1' || test == '2' || test == '3' || test == '4') {
-      newPTCL = test;
-    }
-  }
-  if (newPTCL == '1'){
-      cam.exe_face_detection();
-  } else if (newPTCL == '2'){
-      cam.exe_color_detection(30, 100, -68, -13, 30, 127);
-  } else if (newPTCL == '3') {
-      cam.exe_qrcode_detection();
-  } else if (newPTCL == '4') {
-      cam.exe_led_detection();
-  }
-
-
-//    if (buff[0] == 0){
-//    //do nothing
-//    } else if (buff[0] == 'n'){  //if we didn't receive data or the data says no blob
-//        //This should set the vertical motor to produce enough trust for it to stay afloat
-//        //the left and right motor should turn the blimp as it seek for new blob
-//        if (SEEKING){
-//          motorVertical->setSpeed(0);
-//          motorVertical->run(FORWARD);
-//          // turn on motor
-//          motorVertical->run(RELEASE);
-//          motorLeft->setSpeed(SEEKING_SPEED*NOMINAL_PERCENTAGE/100.0);
-//          motorLeft->run(FORWARD);
-//          motorRight->setSpeed(SEEKING_SPEED*NOMINAL_PERCENTAGE/100.0);
-//          motorRight->run(BACKWARD);
-//        } else {
-//          motorVertical->setSpeed(0);
-//          motorVertical->run(FORWARD);
-//          // turn on motor
-//          motorVertical->run(RELEASE);
-//          motorLeft->setSpeed(0);
-//          motorLeft->run(FORWARD);
-//          motorRight->setSpeed(0);
-//          motorRight->run(BACKWARD);
-//        }
-//    } else {
-//    int i = 0;
-//    while (buff[i] != 'e'){ //while we are not at the end of the data
-//      String temp = String(buff[i]);
-//      int code = temp.toInt();
-//      if (code == FIND){ //if the desired color that we want to track is in the data
-//        //light up based on the position data specified
-//        String horizontal = String(buff[i+1]) + String(buff[i+2]) + String(buff[i+3]);
-//        int x = horizontal.toInt();
-//        String vertical = String(buff[i+4]) + String(buff[i+5]) + String(buff[i+6]);
-//        int y = vertical.toInt();
-//
-//        //Planning for motor speed
-//        int dy = y - RESOLUTION_H/2.0;
-//        int dx = x - RESOLUTION_W/2.0;
-//        int y_speed = abs(dy/(RESOLUTION_H/2.0))*MAX_SPEED*NOMINAL_PERCENTAGE/100.0; 
-//        int x_speed = abs(dx/(RESOLUTION_W/2.0))*MAX_SPEED*NOMINAL_PERCENTAGE/100.0; 
-//        int lockon_speed = MAX_SPEED*NOMINAL_PERCENTAGE/200.0;
-//        //Serial.print("y value: ");
-//        //Serial.println(y);
-//        //Serial.print("velocity: ");
-//        //Serial.println(velocity);
-//        if (dy < 0) {
-//            //Serial.println("up");
-//            motorVertical->setSpeed(y_speed);
-//            motorVertical->run(BACKWARD);
-//        } else {
-//            //Serial.println("down");
-//            motorVertical->setSpeed(y_speed);
-//            motorVertical->run(FORWARD);
-//        }
-//        if (dx < 0) { //
-//            motorRight->setSpeed(SEEKING_SPEED);
-//            motorRight->run(BACKWARD);
-//            motorLeft->setSpeed(min(255, SEEKING_SPEED + x_speed)); //this need to be higher
-//            motorLeft->run(BACKWARD);
-//        } else {
-//            motorRight->setSpeed(min(255, SEEKING_SPEED + x_speed)); //this need to be higher
-//            motorRight->run(BACKWARD);
-//            motorLeft->setSpeed(SEEKING_SPEED);
-//            motorLeft->run(BACKWARD);
-//        }
-//        break; //we only track one blob
-//      } else { //if the blob is not the desired color, check the next blob
-//        i = i + 7;
-//      }
-//    }
-//  }
-//  //End of Demo 3
-
-  delay(1); // Don't loop to quickly.
-  //thisNode.update();
-}
-
-//static void receivedCallback( uint32_t from, String &msg ) {
-//    //This function is where the translation 
-//    Serial.println(msg);
-//    if (msg[0] == '0'){ 
-//      for (int i = 1; i < 6; i++){
-//        int code = msg[1] - '0' ;
-//        if (code == i){
-//          FIND = code;
-//          Serial.print("the code is: ");
-//          Serial.println(FIND); 
-//        }
-//      }
-//    } else if (msg[0] == '1'){ //speed change
-//      String k = msg.substring(1); 
-//      int v = k.toInt();
-//      if (v < 100){
-//        NOMINAL_PERCENTAGE = v;
-//      }
-//    } else if (msg[0] == '2') { 
-//      if (msg[1] == '0'){
-//        SEEKING = false;
-//      } else if (msg[1] == '1') {
-//        SEEKING = true;
-//      }
-//    }
-//    String sendConfirmation = "R";
-//    thisNode.sendTo(from, sendConfirmation);
-//}