[Bpk9p4]

Originally Posted by Xanawatt

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.

so it looks like you just read from address x54 and there is no writing? Also what is the point of

pixyValues[0] = (byte) 0b01010101;
pixyValues[1] = (byte) 0b10101010;

and is there some reason why if you counter goes above 50 you change what you do?