Diff: pixy2.h

Revision:

2:5281a6289e8b

Parent:

1:dd81f4065b6b

Child:

3:6ba43af28440

--- a/pixy2.h	Thu Feb 28 11:13:47 2019 +0000
+++ b/pixy2.h	Fri Mar 01 13:25:12 2019 +0000
@@ -76,12 +76,18 @@
 
 /**
  *  \struct Byte    ->      Short hand for unsigned char
+ *  \struct sByte   ->      Short hand for char
  *  \struct Word    ->      Short hand for unsigned short
+ *  \struct sWord   ->      Short hand for short
  *  \struct lWord   ->      Short hand for unsigned long
+ *  \struct slWord  ->      Short hand for long
  */
 typedef unsigned char   Byte;
+typedef char            sByte;
 typedef unsigned short  Word;
+typedef short           sWord;
 typedef unsigned long   lWord;
+typedef long            slWord;
 
 /**
  *  \union T_Word
@@ -208,7 +214,7 @@
  *  \param  pixY         (Word)   : 16 bits Y (vertical axis) position of color bloc center, relative to the top of the image (in pixels, between 0 and 207)
  *  \param  pixWidth     (Word)   : 16 bits width (in pixels, between 0 and 316) of color bloc
  *  \param  pixHeight    (Word)   : 16 bits height (in pixels, between 0 and 208) of color bloc
- *  \param  pixAngle     (Word)   : 16 bits angle (in degree, between -180.0 and +180.0) of a color code bloc
+ *  \param  pixAngle     (sWord)  : 16 bits angle (in degree, between -180.0 and +180.0) of a color code bloc
  *  \param  pixIndex     (Byte)   : 8 bits tracking identification of the color code bloc (set by pixy2 to ease a bloc position following program)
  *  \param  pixAge       (Byte)   : 8 bits age (in number of frame) of a bloc (doesn't wrap around).
  *  @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:ccc_api
@@ -220,7 +226,7 @@
     Word                pixY;
     Word                pixWidth;
     Word                pixHeight;
-    Word                pixAngle;
+    sWord               pixAngle;
     Byte                pixIndex;
     Byte                pixAge;
 }T_pixy2Bloc;
@@ -228,12 +234,14 @@
 /**
  *  \struct T_Pixy2Vector
  *  \brief  Structured type that match pixy2 vector definition - used in Line frame (type 48/49) - message payload
- *  \param  pixX0     (Byte)   : 8 bits X (horizontal, relative to the left of image) position of color bloc center
- *  \param  pixY0     (Byte)   : 8 bits Y (vertical, relative to the top of image) position of color bloc center
- *  \param  pixX1     (Byte)   : 8 bits width (in pixels) of color bloc
- *  \param  pixY1     (Byte)   : 8 bits height (in pixels) of color bloc
- *  \param  pixIndex  (Byte)   : 8 bits identification of the color code bloc (used to follow a bloc position)
- *  \param  pixAge    (Byte)   : 8 bits age (in number of frame) of a bloc (doesn't wrap around) (used to follow a bloc position)
+ *  \param  pixX0     (Byte)   : 8 bits X (horizontal, relative to the left of image) position of the tail of the vector (number between 0 and 78)
+ *  \param  pixY0     (Byte)   : 8 bits Y (vertical, relative to the top of image) position of the tail of the vector (number between 0 and 51)
+ *  \param  pixX1     (Byte)   : 8 bits X (horizontal, relative to the left of image) position of the head of the vector (number between 0 and 78)
+ *  \param  pixY1     (Byte)   : 8 bits Y (vertical, relative to the top of image) position of the head of the vector (number between 0 and 51)
+ *  \param  pixIndex  (Byte)   : 8 bits tracking identification of the vector (set by pixy2 to ease a vector identification in case of multiple vector in a line following program)
+ *  \param  pixFlags  (Byte)   : 8 bits flag containing possible usefull informations (see notes)
+ *  @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api
+ *  @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking
  */
 typedef struct {
     Byte                pixX0;
@@ -244,10 +252,19 @@
     Byte                pixFlags;
 }T_Pixy2Vector;
 
+/**
+ *  \struct T_Pixy2InterLine
+ *  \brief  Structured type that match pixy2 intersection line definition - used in Line frame (type 48/49) - message payload 
+ *  \param  pixIndex     (Byte)   : 8 bits tracking identification of the intersection line (set by pixy2 to ease a line following program)
+ *  \param  pixReserved  (Byte)   : Not documented by manufacturer
+ *  \param  pixAngle     (sWord)  : 16 bits angle (in degree, between -180.0 and +180.0) of the intersection line
+ *  @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api
+ *  @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking
+ */
 typedef struct {
     Byte                pixIndex;
     Byte                pixReserved;
-    Word                pixAngle;
+    sWord               pixAngle;
 }T_Pixy2InterLine;
 
 typedef struct {