pixycam

for (;;)
    {
        xSemaphoreTake(xSemaphoreCam, portMAX_DELAY);
        //term_printf("TASK D \n\r");
        //pixyCam_Test();
        pixyCam_Get(tabcamXY,tabcamWH);



        //if ( tabcamWH[0]*tabcamWH[1]>625){


        //if ( tabcamWH[0]*tabcamWH[1]>625){
//      term_printf("direction :  ");

        if ((tabcamXY[0] - 150)> 20){
            // décaller servo à gauche
            servoL_pos = servoL_pos -1;
    //      term_printf("gauche\r\n");
        }
        else {

            if ((tabcamXY[0] - 160)< -20){
                //décaller servo à droite
                servoL_pos= servoL_pos +1;
        //      term_printf("droite \r\n");
            }
        }

        vTaskDelay(5);
        servoLow_Set(servoL_pos);
        vTaskDelay(5);



        if ((tabcamXY[1] - 100)> 20){
            // décaller servo en haut
            //term_printf("haut\r\n");
            servoH_pos= servoH_pos+1;

        }
        else {

            if ((tabcamXY[1] - 100)< -20){
                //décaller servo en bas

                servoH_pos= servoH_pos-1;
                //term_printf("bas\r\n");
            }

        }


        vTaskDelay(5);
        servoHigh_Set(servoH_pos);
        vTaskDelay(5);


        xSemaphoreGive( xSemaphore );
    }