#include <SPI.h>
#include <Pixy2.h>
Pixy2 pixy;

int myPins[6] = {5, 6, 7, 8, 9, 10};
float deadZone = 0.15;
int baseSpeed = 130;

int cont = 0;
int signature, x, y, width, height;
float cx, cy, area;

void setup() {
  Serial.begin(9600);
  Serial.print("Starting...\n");
  pixy.init();
  for (int i = 0; i < 6; i++) {
    pinMode (myPins[i], OUTPUT);
  }
}

void loop() {
  float turn = pixyCheck();
  if (turn > -deadZone && turn < deadZone)  {
    turn = 0;
  }
  if (turn < 0) {
    moveRobot(-80, 170);
  }
  else if (turn > 0) {
    moveRobot(170, -80); 
  }
  else {
    moveRobot(70, 70);
  }
  delay(1);
}

float pixyCheck() {
  static int i = 0;
  int j;
  int8_t blocks;
  char buf[32];
  blocks = pixy.ccc.getBlocks();

  if (blocks)
  {
    signature = pixy.blocks[0].signature;
    height = pixy.ccc.blocks[0].m_height;
    width = pixy.ccc.blocks[0].m_width;
    x = pixy.ccc.blocks[0].m_x;
    y = pixy.ccc.blocks[0].m_y;
    cx = (x + (width / 2));
    cy = (y + (height / 2));
    cx = mapfloat(cx, 0, 320, -1, 1);
    cy = mapfloat(cy, 0, 320, 1, -1);
    area = width * height;
    }
    else {
      cont += 1;
      if (cont == 100) {
        cont = 0;
        cx = 0;
      }
    }
    return cx;
}

float mapfloat(long x, long in_min, long in_max, long out_min, long out_max)
{
  return (float)(x- in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
}

void moveRobot(int leftSpeed, int rightSpeed)
{
  if (leftSpeed >= 0) {
    digitalWrite(myPins[1], 0);
    digitalWrite(myPins[2], 1);
  }
  else {
    digitalWrite(myPins[1], 1);
    digitalWrite(myPins[2], 0);
  }

  if (rightSpeed >= 0) {
    digitalWrite(myPins[3], 0);
    digitalWrite(myPins[4], 1);
  }
  else {
    digitalWrite(myPins[3], 1);
    digitalWrite(myPins[4], 0);
  }

  analogWrite(myPins[0], abs(leftSpeed));
  analogWrite(myPins[5], abs(rightSpeed));
}


위의 코딩을 가져와서 수정을 하고 있는데 오류코드가 발생하여 질문 드립니다.

C:\Users\a0109\AppData\Local\Temp\.arduinoIDE-unsaved202355-20148-s7xjwa.yrbap\sketch_jun5a\sketch_jun5a.ino: In function 'float pixyCheck()':
C:\Users\a0109\AppData\Local\Temp\.arduinoIDE-unsaved202355-20148-s7xjwa.yrbap\sketch_jun5a\sketch_jun5a.ino:48:22: error: 'Pixy2 {aka class TPixy2<Link2SPI>}' has no member named 'blocks'
     signature = pixy.blocks[0].signature;
                      ^~~~~~

exit status 1

Compilation error: 'Pixy2 {aka class TPixy2<Link2SPI>}' has no member named 'blocks'

라는 오류코드가 나오며 pixy2를 이용하여 색상인식을 한 후 모터를 통해 따라 움직이는 코딩을 하고싶어서 질문을 드립니다.