[Xanawatt]

Originally Posted by Bpk9p4

that would be great. Are you just getting the largest value or how do you have it working?

Here is the code:
In robotMap:

public static I2C pixyi2c;
pixyi2c = new I2C(Port.kOnboard, 0x54);

In Main:

public static void printPixyStuff(){
	byte[] pixyValues = new byte[64];
	pixyValues[0] = (byte) 0b01010101;
	pixyValues[1] = (byte) 0b10101010;

	RobotMap.pixyi2c.readOnly(pixyValues, 64);
	if (pixyValues != null) {
		int i = 0;
		while (!(pixyValues[i] == 85 && pixyValues[i + 1] == -86) && i < 50) {
			i++;
		}
		i++;
		if (i > 50)
			i = 49;
		while (!(pixyValues[i] == 85 && pixyValues[i + 1] == -86) && i < 50) {
			i++;
		}
		char xPosition = (char) (((pixyValues[i + 7] & 0xff) << 8) | (pixyValues[i + 6] & 0xff));
		char yPosition = (char) ((pixyValues[i + 9] & 0xff << 8) | pixyValues[i + 8] & 0xff);
		char width = (char) ((pixyValues[i + 11] & 0xff << 8) | pixyValues[i + 10] & 0xff);
		char height = (char) ((pixyValues[i + 13] & 0xff << 8) | pixyValues[i + 12] & 0xff);
		SmartDashboard.putNumber("xPosition", xPosition);
		SmartDashboard.putNumber("yPosition", yPosition);
		SmartDashboard.putNumber("width", width);
		SmartDashboard.putNumber("height", height);
		SmartDashboard.putNumber("Raw 5", pixyValues[5]);
	}
}

As for your question, we have it just detecting the largest value. There might be a way to access the other data(It might just be as simple as finding the right memory address), but we did not investigate that further. I will be happy to further explain this code(as it is a little complex), but even I forget and would have to look at it a lot. But, if you want info, then I would gladly do it! Also, so people don´t get mad at me, if you use it, give us credit.