pixymon: since the header files aren't in the same directory as the sour...

.gitignore

@@ -8,3 +8,36 @@
 *.jtag
 *.swp
 *.swo
+/src/device/libpixy_m0/Release/liblibpixy_m0.a
+/src/device/libpixy_m0/src/debug_frmwrk.c
+/src/device/libpixy_m0/src/ipc_mbx.c
+/src/device/libpixy_m0/src/lpc43xx_adc.c
+/src/device/libpixy_m0/src/lpc43xx_cgu.c
+/src/device/libpixy_m0/src/lpc43xx_i2c.c
+/src/device/libpixy_m0/src/lpc43xx_scu.c
+/src/device/libpixy_m0/src/lpc43xx_ssp.c
+/src/device/libpixy_m0/src/lpc43xx_uart.c
+/src/device/libpixy_m0/src/system_LPC43xx.c
+/src/device/libpixy_m4/Release/liblibpixy_m4.a
+/src/device/libpixy_m4/src/blob.cpp
+/src/device/libpixy_m4/src/blobs.cpp
+/src/device/libpixy_m4/src/calc.cpp
+/src/device/libpixy_m4/src/chirp.cpp
+/src/device/libpixy_m4/src/colorlut.cpp
+/src/device/libpixy_m4/src/debug_frmwrk.c
+/src/device/libpixy_m4/src/ipc_mbx.c
+/src/device/libpixy_m4/src/lpc43xx_adc.c
+/src/device/libpixy_m4/src/lpc43xx_cgu.c
+/src/device/libpixy_m4/src/lpc43xx_i2c.c
+/src/device/libpixy_m4/src/lpc43xx_scu.c
+/src/device/libpixy_m4/src/lpc43xx_ssp.c
+/src/device/libpixy_m4/src/lpc43xx_uart.c
+/src/device/libpixy_m4/src/qqueue.cpp
+/src/device/libpixy_m4/src/system_LPC43xx.c
+/src/device/main_m0/Release/cr_startup_lpc43xx-m0app.asm
+/src/device/main_m0/Release/main_m0.asm
+/src/device/main_m4/SPIFI/pixy_firmware.hex
+*.pro.user
+*~
+/src/device/libpixy_m4/src/robo.cpp
+/src/host/build-pixymon-Desktop-Debug/*

robodetection.m

@@ -0,0 +1,89 @@
+clear 'all';
+close 'all';
+
+Path = 'Z:/Documents/PixyMon/';
+files = dir(strcat(Path, '*.png'));
+while 1
+    for file = files'
+        Image = imread(strcat(Path, file.name));
+
+        figure(1);
+
+        subplot(3,3,1);
+        imshow(Image);
+        title('Original');
+
+        ImageGray = rgb2gray(Image);
+
+        subplot(3,3,2);
+        imshow(ImageGray);
+        title('gray');
+
+        averaged = imfilter(ImageGray, fspecial('gaussian'));
+
+        subplot(3,3,3);
+        imshow(averaged);
+        title('averaged');
+
+        DX = [-1 0 1; -2 0 2; -1 0 1];
+        DY = DX';
+
+        ImageDy = imfilter(ImageGray, DY);
+        ImageDx = imfilter(ImageGray, DX);
+
+        subplot(3,3,4);
+        imshow(ImageDy);
+        title('dl/dy');
+
+        summed = sum(ImageDy, 2);
+
+
+        [h, w] = size(ImageGray);
+
+        filteredSummed = (summed > (sum(summed)/length(summed)));
+        filterMat = [ 1 2 1 ] * [ 1; 2; 1 ];
+        filtered = (imfilter(ImageDy, filterMat/sum(sum(filterMat))) > 120);
+
+        subplot(3,3,5);
+        imshow(filtered);
+        title('filtered dl/dy');
+
+        allPlatePixels = [];
+        for x = 11:w-10
+            platePixels = 0;
+            for y = h:-1:1
+                if ((filtered(y, x) == 1))
+                    break;
+                end
+                platePixels = platePixels + 1;
+            end
+            allPlatePixels = [allPlatePixels platePixels];
+        end
+
+        avgPlatePixels = sum(allPlatePixels) / length(allPlatePixels);
+        sortedAllPlatePixels = sort(allPlatePixels);
+        medianPlatePixels = sortedAllPlatePixels(length(allPlatePixels)/2);
+
+        subplot(3,3,7);
+        plot(allPlatePixels);
+        title('sum');
+
+        %ImageCroppedGray = imcrop(ImageGray, [ 0 h - medianPlatePixels  w medianPlatePixels]);
+
+        subplot(3,3,8);
+        imshow(ImageDx);
+        title('dl/dx');
+
+        subplot(3,3,9);
+        imshow(ImageDx);
+        title('dl/dx');
+
+        %ImageCroppedDx = imfilter(ImageCroppedGray, DX);
+
+        %subplot(3,3,7);
+        %imshow(ImageCroppedDx);
+        %title('dl/dx');
+
+        pause(1)
+    end
+end

src/common/inc/robo.h

@@ -0,0 +1,20 @@
+//
+// begin license header
+//
+// This file is part of Pixy CMUcam5 or "Pixy" for short
+//
+// All Pixy source code is provided under the terms of the
+// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
+// Those wishing to use Pixy source code, software and/or
+// technologies under different licensing terms should contact us at
+// cmucam@cs.cmu.edu. Such licensing terms are available for
+// all portions of the Pixy codebase presented here.
+//
+// end license header
+//
+
+#ifndef ROBO_H
+#define ROBO_H
+
+
+#endif // ROBO_H

src/common/src/robo.cpp

@@ -0,0 +1,23 @@
+//
+// begin license header
+//
+// This file is part of Pixy CMUcam5 or "Pixy" for short
+//
+// All Pixy source code is provided under the terms of the
+// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
+// Those wishing to use Pixy source code, software and/or
+// technologies under different licensing terms should contact us at
+// cmucam@cs.cmu.edu. Such licensing terms are available for
+// all portions of the Pixy codebase presented here.
+//
+// end license header
+//
+
+void test()
+{
+	auto f = []
+	{
+	};
+
+	(void)f;
+}

src/device/libpixy_m4/Release/makefile_alt

@@ -33,7 +33,7 @@ clean:
 src/%.o: ../src/%.cpp
 	@echo 'Building file: $<'
 	@echo 'Invoking: MCU C++ Compiler'
-	arm-none-eabi-c++ -D__MULTICORE_NONE -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -D__LPC43XX__ -I../inc -I../../common/inc -I../../../common/inc -Os -Os -g -Wall -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+	arm-none-eabi-c++ -D__MULTICORE_NONE -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -D__LPC43XX__ -I../inc -I../../common/inc -I../../../common/inc -Os -Os -g -Wall -std=c++11 -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

src/device/main_m4/RAM/makefile_alt

@@ -37,7 +37,7 @@ clean:
 src/%.o: ../src/%.cpp
 	@echo 'Building file: $<'
 	@echo 'Invoking: MCU C++ Compiler'
-	arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+	arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -std=c++11 -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

src/device/main_m4/SPIFI/makefile_alt

@@ -32,7 +32,7 @@ main_m4.axf: $(OBJS) $(USER_OBJS)
 src/%.o: ../src/%.cpp
 	@echo 'Building file: $<'
 	@echo 'Invoking: MCU C++ Compiler'
-	arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+	arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -std=c++11 -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '