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The Code
Copy the code below into the Arduino IDE and upload. Make sure that you have selected "Arduino
Leonardo" in Tools->Board:
//==========================================================================
//
// Pixy Pet Robot
//
// Adafruit invests time and resources providing this open source code,
// please support Adafruit and open-source hardware by purchasing
// products from Adafruit!
//
// Written by: Bill Earl for Adafruit Industries
//
//==========================================================================
// begin license header
//
// All Pixy Pet source code is provided under the terms of the
// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
//
// end license header
//
//==========================================================================
//
// Portions of this code are derived from the Pixy CMUcam5 pantilt example code.
//
//==========================================================================
#include <SPI.h>
#include <Pixy.h>
#include <ZumoMotors.h>
#define X_CENTER 160L
#define Y_CENTER 100L
#define RCS_MIN_POS 0L
#define RCS_MAX_POS 1000L
#define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2)
//---------------------------------------
// Servo Loop Class
// A Proportional/Derivative feedback
// loop for pan/tilt servo tracking of
// blocks.
// (Based on Pixy CMUcam5 example code)
//---------------------------------------