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Pixy2_UART
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pixy2.h
00001 /** 00002 * @author Hugues Angelis - Théo Le Paih - Wael Hazami 00003 * 00004 * @section LICENSE 00005 * 00006 * Permission is hereby granted, free of charge, to any person obtaining a copy 00007 * of this software and associated documentation files (the "Software"), to deal 00008 * in the Software without restriction, including without limitation the rights 00009 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00010 * copies of the Software, and to permit persons to whom the Software is 00011 * furnished to do so, subject to the following conditions: 00012 * 00013 * The above copyright notice and this permission notice shall be included in 00014 * all copies or substantial portions of the Software. 00015 * 00016 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00017 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00018 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00019 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00020 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00021 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00022 * THE SOFTWARE. 00023 * 00024 * @section DESCRIPTION 00025 * 00026 * CMUCAM 5 - Pixy2 using UART interface (Serial) 00027 * 00028 * Datasheet, FAQ and PC drivers : 00029 * 00030 * http://www.pixycam.com/ 00031 * This library was written by H. Angelis and tested by T. Le Paih and W. Hazami 00032 */ 00033 00034 #ifndef _PIXY2_ 00035 #define _PIXY2_ 00036 00037 /** 00038 * Include : Mbed Library 00039 */ 00040 #include "mbed.h" 00041 00042 /** 00043 * Defines 00044 */ 00045 #define _DEBUG_ 1 00046 #define PIXY2_NCSHEADERSIZE 4 00047 #define PIXY2_CSHEADERSIZE 6 // Possible erreur : Ancienne valeur 4 00048 #define PIXY2_SYNC 0xC1AE 00049 #define PIXY2_CSSYNC 0xC1AF 00050 #define PIXY2_REP_ACK 1 00051 #define PIXY2_REP_ERROR 3 00052 #define PIXY2_ASK_RESOL 12 00053 #define PIXY2_REP_RESOL 13 00054 #define PIXY2_ASK_VERS 14 00055 #define PIXY2_REP_VERS 15 00056 #define PIXY2_SET_BRIGHT 16 00057 #define PIXY2_SET_SERVOS 18 00058 #define PIXY2_SET_LED 20 00059 #define PIXY2_SET_LAMP 22 00060 #define PIXY2_ASK_FPS 24 00061 #define PIXY2_REP_FPS 1 00062 #define PIXY2_ASK_BLOC 32 00063 #define PIXY2_REP_BLOC 33 00064 #define PIXY2_ASK_LINE 48 00065 #define PIXY2_REP_LINE 49 00066 #define PIXY2_SET_MODE 54 00067 #define PIXY2_SET_TURN 58 00068 #define PIXY2_SET_VECTOR 56 00069 #define PIXY2_SET_DEFTURN 60 00070 #define PIXY2_SET_REVERSE 62 00071 #define PIXY2_ASK_VIDEO 112 00072 #define PIXY2_VECTOR 1 00073 #define PIXY2_INTERSECTION 2 00074 #define PIXY2_BARCODE 4 00075 #define PIXY2_MAX_INT_LINE 6 00076 00077 // setMode 00078 #define LINE_MODE_TURN_DELAYED 0x01 00079 #define LINE_MODE_MANUAL_SELECT_VECTOR 0x02 00080 #define LINE_MODE_WHITE_LINE 0x80 00081 00082 /**************** ERRORS ****************/ 00083 00084 /** 00085 * \struct T_pixy2ErrorCode 00086 * \brief Explicit error code list : 00087 * \param PIXY2_OK : No error 00088 * \param PIXY2_MISC_ERROR : Generic error 00089 * \param PIXY2_BUSY : Pixy is busy (the response message is not yet fully arrived) 00090 * \param PIXY2_BAD_CHECKSUM : Checksum is wrong 00091 * \param PIXY2_TIMEOUT : Pixy2 is not talking 00092 * \param PIXY2_BUTTON_OVERRIDE : User is manualy operating the button of the Pixy2 00093 * \param PIXY2_PROG_CHANGE : Checksum is wrong 00094 * \param PIXY2_TYPE_ERROR : Unexpected message type 00095 * @note More documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api#error-codes 00096 */ 00097 typedef int T_pixy2ErrorCode; 00098 00099 #define PIXY2_OK 0 00100 #define PIXY2_BUSY -1 00101 #define PIXY2_MISC_ERROR -2 00102 #define PIXY2_BAD_CHECKSUM -3 00103 #define PIXY2_TIMEOUT -4 00104 #define PIXY2_OVERRIDE -5 00105 #define PIXY2_PROG_CHANGE -6 00106 #define PIXY2_TYPE_ERROR -7 00107 00108 /**************** STATE MACHINE ****************/ 00109 00110 typedef enum {idle, messageSent, receivingHeader, receivingData, dataReceived} T_Pixy2State; 00111 00112 /**************** UTILS ****************/ 00113 00114 00115 /** 00116 * \struct Byte -> Short hand for unsigned char 00117 * \struct sByte -> Short hand for char 00118 * \struct Word -> Short hand for unsigned short 00119 * \struct sWord -> Short hand for short 00120 * \struct lWord -> Short hand for unsigned long 00121 * \struct slWord -> Short hand for long 00122 */ 00123 typedef unsigned char Byte; 00124 typedef char sByte; 00125 typedef unsigned short Word; 00126 typedef short sWord; 00127 typedef unsigned long lWord; 00128 typedef long slWord; 00129 00130 /** 00131 * \union T_Word 00132 * \brief Structured type to switch from word to bytes 00133 * \param mot (Word) : 16 bits word 00134 * \param octet (Byte) : 2 bytes that overlap mot (byte access) 00135 */ 00136 typedef union { 00137 Word mot; 00138 Byte octet[2]; 00139 }T_Word; 00140 00141 /** 00142 * \union T_lWord 00143 * \brief Structured type to switch from lword to word or bytes 00144 * \param motLong (lWord) : 32 bits word 00145 * \param mot (Word) : 2 x 16 bits words that overlap motLong (word access) 00146 * \param octet (Byte) : 4 bytes that overlap motLong (byte access) 00147 */ 00148 typedef union { 00149 lWord motLong; 00150 Word mot[2]; 00151 Byte octet[4]; 00152 }T_lWord; 00153 00154 00155 /**************** HEADERS ****************/ 00156 00157 /** 00158 * \struct T_pixy2Header 00159 * \brief Structured type that match pixy2 header without checksum (send message) 00160 * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC) 00161 * \param pixType (Byte) : 8 bits message type identifier 00162 * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum) 00163 */ 00164 typedef struct { 00165 Word pixSync; 00166 Byte pixType; 00167 Byte pixLength; 00168 }T_pixy2Header; 00169 00170 /** 00171 * \struct T_pixy2SendFrame 00172 * \brief Structured type that match frame definition for all kind of message to send to a pixy2 00173 * \param header (T_pixy2Header) : 4 bytes classical header starting with PIXY2_SYNC 00174 * \param data (Byte) : 5 bytes payload (to match all usage, not all byte must be used) 00175 */ 00176 typedef struct { 00177 T_pixy2Header header; 00178 Byte data[5]; 00179 }T_pixy2SendFrame; 00180 00181 /** 00182 * \union T_pixy2SendBuffer 00183 * \brief Structured type to switch between structured type T_pixy2sendFrame and bytes 00184 * \param frame (T_pixy2SendFrame) : classical frame (header + payload) starting with PIXY2_SYNC 00185 * \param data (Byte) : 9 bytes that overlap frame (byte access) 00186 */ 00187 typedef union { 00188 T_pixy2SendFrame frame; 00189 Byte data[9]; 00190 }T_pixy2SendBuffer; 00191 00192 /** 00193 * \struct T_pixy2RcvHeader 00194 * \brief Structured type that match pixy2 header with checksum (received message) 00195 * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC) 00196 * \param pixType (Byte) : 8 bits message type identifier 00197 * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum) 00198 * \param pixSync (Word) : 16 bits checksum (sum of all bytes of the payload) 00199 */ 00200 typedef struct { 00201 Word pixSync; 00202 Byte pixType; 00203 Byte pixLength; 00204 Word pixChecksum; 00205 }T_pixy2RcvHeader; 00206 00207 00208 /**************** PAYLOADS ****************/ 00209 00210 /** 00211 * \struct T_pixy2ReturnCode 00212 * \brief Structured type that match pixy2 error/acknowledge/reply frame (type = 1 or 3) message payload 00213 * \param pixReturn (lWord) : 32 bits returned value 00214 */ 00215 typedef struct { 00216 lWord pixReturn; 00217 }T_pixy2ReturnCode; 00218 00219 /** 00220 * \struct T_pixy2Version 00221 * \brief Structured type that match pixy2 version frame (type = 14/15) message payload 00222 * \param pixHWVersion (Word) : 16 bits hardWare Version of pixy2 00223 * \param pixFWVersionMaj (Byte) : 8 bits upper part of firmware (before the dot) 00224 * \param pixFWVersionMin (Byte) : 8 bits lower part of firmware (after the dot) 00225 * \param pixFWBuild (Word) : 16 bits firmware build information 00226 * \param pixHFString (String) : 10 bytes user friendly pixy2 firmware type 00227 */ 00228 typedef struct { 00229 Word pixHWVersion; 00230 Byte pixFWVersionMaj; 00231 Byte pixFWVersionMin; 00232 Word pixFWBuild; 00233 char pixHFString[10]; 00234 }T_pixy2Version; 00235 00236 /** 00237 * \struct T_pixy2Resolution 00238 * \brief Structured type that match pixy2 resolution frame (type = 12/13) message payload 00239 * \param pixFrameWidth (Word) : 16 bits width (in pixel) of an image 00240 * \param pixFrameHeight (Word) : 16 bits height (in pixel) of an image 00241 */ 00242 typedef struct { 00243 Word pixFrameWidth; 00244 Word pixFrameHeight; 00245 }T_pixy2Resolution; 00246 00247 /** 00248 * \struct T_pixy2Bloc 00249 * \brief Structured type that match pixy2 blocks frame (type = 32/33) message payload 00250 * \param pixSignature (Word) : 16 bits signature or color code of the color bloc (signature are between 1 and 7, color code are composed of signature of 2, up to 5, tags so over 10) 00251 * \param pixX (Word) : 16 bits X (horizontal axis) position of color bloc center, relative to the left of the image (in pixels, between 0 and 315) 00252 * \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) 00253 * \param pixWidth (Word) : 16 bits width (in pixels, between 0 and 316) of color bloc 00254 * \param pixHeight (Word) : 16 bits height (in pixels, between 0 and 208) of color bloc 00255 * \param pixAngle (sWord) : 16 bits angle (in degree, between -180.0 and +180.0) of a color code bloc 00256 * \param pixIndex (Byte) : 8 bits tracking identification of the color code bloc (set by pixy2 to ease a bloc position following program) 00257 * \param pixAge (Byte) : 8 bits age (in number of frame) of a bloc (doesn't wrap around). 00258 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:ccc_api 00259 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:color_connected_components 00260 */ 00261 typedef struct { 00262 Word pixSignature; 00263 Word pixX; 00264 Word pixY; 00265 Word pixWidth; 00266 Word pixHeight; 00267 sWord pixAngle; 00268 Byte pixIndex; 00269 Byte pixAge; 00270 }T_pixy2Bloc; 00271 00272 /** 00273 * \struct T_pixy2Vector 00274 * \brief Structured type that match pixy2 vector definition - used in Line frame (type 48/49) - message payload 00275 * \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) 00276 * \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) 00277 * \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) 00278 * \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) 00279 * \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) 00280 * \param pixFlags (Byte) : 8 bits flag containing possible usefull informations (see notes) 00281 * @note This structure is a feature of Line API, packed as a feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference 00282 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api 00283 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00284 */ 00285 typedef struct { 00286 Byte pixX0; 00287 Byte pixY0; 00288 Byte pixX1; 00289 Byte pixY1; 00290 Byte pixIndex; 00291 Byte pixFlags; 00292 }T_pixy2Vector; 00293 00294 /** 00295 * \struct T_pixy2InterLine 00296 * \brief Structured type that match pixy2 intersection line definition - used in Line frame (type 48/49) - message payload 00297 * \param pixIndex (Byte) : 8 bits tracking identification of the intersection line (set by pixy2 to ease a line following program) 00298 * \param pixReserved (Byte) : Not documented by manufacturer 00299 * \param pixAngle (sWord) : 16 bits angle (in degree, between -180.0 and +180.0) of the intersection line 00300 * @note This structure is a sub feature of Line API, packed as a sub feature of intersection feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference 00301 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api 00302 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00303 */ 00304 typedef struct { 00305 Byte pixIndex; 00306 Byte pixReserved; 00307 sWord pixAngle; 00308 }T_pixy2InterLine; 00309 00310 /** 00311 * \struct T_pixy2Intersection 00312 * \brief Structured type that match pixy2 intersection definition - used in Line frame (type 48/49) - message payload 00313 * \param pixX (Byte) : X axis coordinate of the intersection (in pixel, between 0 and 78) 00314 * \param pixY (Byte) : Y axis coordinate of the intersection (in pixel, between 0 and 51) 00315 * \param pixN (Byte) : Number of lines connected to the intersection (between 3 and 5) 00316 * \param pixReserved (Byte) : Not documented by manufacturer 00317 * @note This structure is a feature of Line API, packed as a feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference 00318 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api 00319 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00320 */ 00321 typedef struct { 00322 Byte pixX; 00323 Byte pixY; 00324 Byte pixN; 00325 Byte pixReserved; 00326 T_pixy2InterLine PixintLines[PIXY2_MAX_INT_LINE]; 00327 }T_pixy2Intersection; 00328 00329 /** 00330 * \struct T_pixy2BarCode 00331 * \brief Structured type that match pixy2 barcode definition - used in Line frame (type 48/49) - message payload 00332 * \param pixX (Byte) : X axis coordinate of the barcode (in pixel, between 0 and 78) 00333 * \param pixY (Byte) : Y axis coordinate of the barcode (in pixel, between 0 and 51) 00334 * \param pixFlag (Byte) : Flag to indicate if barcode met filtering constraint 00335 * \param pixCode (Byte) : Indicate the numeric value associated with the barcode (between 0 and 15) 00336 * @note This structure is a feature of Line API, packed as a feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference 00337 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api 00338 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00339 */ 00340 typedef struct { 00341 Byte pixX; 00342 Byte pixY; 00343 Byte pixFlag; 00344 Byte pixCode; 00345 }T_pixy2BarCode; 00346 00347 /** 00348 * \struct T_pixy2LineFeature 00349 * \brief Structured type that match pixy2 feature header for Line API - used in Line frame (type 48/49) - message payload 00350 * \param pixType (Byte) : Type of the feature (can be 1 -> Vector, 2 -> Intersection or 4 -> Barcode) 00351 * \param pixLength (Byte) : Number of Bytes for this feature 00352 * @note This structure is the header of features of Line API in Line Frames. They can be up to 4 features in a frame. Documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference 00353 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api 00354 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00355 */ 00356 typedef struct { 00357 Byte fType; 00358 Byte fLength; 00359 }T_pixy2LineFeature; 00360 00361 /** 00362 * \struct T_pixy2Pixel 00363 * \brief Structured type that match pixy2 video API - used in Video frame (type 112/1) - message payload 00364 * \param pixBlue (Byte) : Blue RGB value of the average blue component of the 5x5 pixels square centered on X param passes to the function (value between 0 and 255) 00365 * \param pixGreen (Byte) : Green RGB value of the average blue component of the 5x5 pixels square centered on X param passes to the function (value between 0 and 255) 00366 * \param pixRed (Byte) : Red RGB value of the average blue component of the 5x5 pixels square centered on X param passes to the function (value between 0 and 255) 00367 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video_api 00368 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video 00369 */ 00370 typedef struct { 00371 Byte pixBlue; 00372 Byte pixGreen; 00373 Byte pixRed; 00374 }T_pixy2Pixel; 00375 00376 /** 00377 * Pixy2 : CMU CAM 5 - Smart camera 00378 * More informations at http://www.pixycam.com/ 00379 * @note Use pointer to pointer in order to connect pointer adress (passed by ref by user) 00380 * to the address of the buffer that contains the received message : see example below 00381 * \code 00382 * // Creation of Pixy2 object 00383 * PIXY2 myPixy(UART_TX, UART_RX); 00384 * ... 00385 * // Creation of a pointer to the structure T_pixy2Version 00386 * T_pixy2Version *pixyVersion; 00387 * ... 00388 * // Call for version on Pixy2 (that will be put inside the pointing structure) 00389 * if (myPixy.pixy2_getVersion(&pixyVersion) == PIXY2_OK) 00390 * ... 00391 * // Printing Human friendly string (see Pixy2 doc for details) 00392 * printf("myPixy's version : %s\n\r", pixyVersion->pixHFString); 00393 * ... 00394 * \endcode 00395 */ 00396 class PIXY2 { 00397 00398 protected : 00399 00400 Serial* _Pixy2; 00401 00402 public : 00403 /** 00404 * Constructor of pixy2 UART object. 00405 * 00406 * @param tx : the Mbed pin used as TX 00407 * @param rx : the Mbed pin used as RX 00408 * @param debit : the bitrate of the serial (max value is 230 kbaud/s) 00409 */ 00410 PIXY2(PinName tx, PinName rx, int debit = 230000); 00411 00412 /** 00413 * Destructor of pixy2 UART object. 00414 */ 00415 ~PIXY2(); 00416 00417 // POUR DEBUG // 00418 T_Pixy2State getEtat(); 00419 void affDataSize(); 00420 00421 // Public Functions 00422 00423 /** 00424 * Queries and receives the firmware and hardware version of Pixy2, which is put in the version member variable. 00425 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00426 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00427 * @param ptrVersion (T_pixy2Version - passed by reference) : pointer to a pointer of the version data structure 00428 * @return T_pixy2ErrorCode : error code. 00429 */ 00430 T_pixy2ErrorCode pixy2_getVersion (T_pixy2Version **ptrVersion); 00431 00432 /** 00433 * Gets the width and height of the frames used by the current program. 00434 * After calling this function, the width and height can be found in the frameWidth and frameHeight member variables. 00435 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00436 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00437 * @param ptrResolution (T_pixy2Resolution - passed by reference) : pointer to a pointer of the resolution data structure 00438 * @return T_pixy2ErrorCode : error code. 00439 */ 00440 T_pixy2ErrorCode pixy2_getResolution (T_pixy2Resolution **ptrResolution); 00441 00442 /** 00443 * Sets the relative exposure level of Pixy2's image sensor. 00444 * Higher values result in a brighter (more exposed) image. 00445 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00446 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00447 * @param brightness (Byte - passed by value) : brightness level 00448 * @return T_pixy2ErrorCode : error code. 00449 */ 00450 T_pixy2ErrorCode pixy2_setCameraBrightness (Byte brightness); 00451 00452 /** 00453 * Sets the servo positions of servos plugged into Pixy2's two RC servo connectors. 00454 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00455 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00456 * @param s0 (Word - passed by value) : value between 0 and 511 00457 * @param s1 (Word - passed by value) : value between 0 and 511 00458 * @return T_pixy2ErrorCode : error code. 00459 */ 00460 T_pixy2ErrorCode pixy2_setServos (Word s0, Word s1); 00461 00462 /** 00463 * Sets Pixy2's RGB LED value. The three arguments sets the brightness of the red, green and blue sections of the LED. 00464 * It will override Pixy2's own setting of the RGB LED. 00465 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00466 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00467 * @param red (Byte - passed by value) : Red component value (between 0 and 255) 00468 * @param green (Byte - passed by value) : Green component value (between 0 and 255) 00469 * @param blue (Byte - passed by value) : Blue component value (between 0 and 255) 00470 * @return T_pixy2ErrorCode : error code. 00471 */ 00472 T_pixy2ErrorCode pixy2_setLED (Byte red, Byte green, Byte blue); 00473 00474 /** 00475 * Sets on/off Pixy2's integrated light source. 00476 * The upper argument controls the two white LEDs along the top edge of Pixy2's PCB. The lower argument sets the RGB LED, causing it to turn on all three color channels at full brightness, resulting in white light. 00477 * It will override Pixy2's own setting of the RGB LED. 00478 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00479 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00480 * @param upper (Byte - passed by value) : switch on or off the upper lamps (boolean : zero or non-zero) 00481 * @param lower (Byte - passed by value) : switch on or off the lower lamp (boolean : zero or non-zero) 00482 * @return T_pixy2ErrorCode : error code. 00483 */ 00484 T_pixy2ErrorCode pixy2_setLamp (Byte upper, Byte lower); 00485 00486 /** 00487 * Gets Pixy2's framerate. 00488 * The framerate can range between 2 and 62 frames per second depending on the amount of light in the environment and the min frames per second setting in the Camera configuration tab. 00489 * This function can also serve as a simple indicator of the amount of light in the environment. That is, low framerates necessarily imply lower lighting levels 00490 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00491 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00492 * @param framerate (T_pixy2ReturnCode - passed by reference) : number of frame per second (between 2 and 62) 00493 * @return T_pixy2ErrorCode : error code. 00494 */ 00495 T_pixy2ErrorCode pixy2_getFPS (T_pixy2ReturnCode **framerate); 00496 00497 /** 00498 * Gets all detected color blocks in the most recent frame. 00499 * The new data is then available in the blocks member variable. The returned blocks are sorted by area, with the largest blocks appearing first in the blocks array. 00500 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:color_connected_components 00501 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00502 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__ccc_api 00503 * @param sigmap (Byte - passed by value) : signature filtering 00504 * @param maxBloc (Byte - passed by value) : maximum number of blocks to return 00505 * @return T_pixy2ErrorCode : error code. 00506 * @note There are 7 different signatures definition (sig1 to sig7). Color codes are made of a combination of signature and can be filtered as well. 00507 * @note Filtering is based on ORing codes : 1 for sig1, 2 for sig2, 4 for sig3, 8 for sig4, 16 for sig5, 32 for sig6, 64 sor sig7 and 128 for color code. 00508 * @note So sigmap = 255 means accept all and sigmap = 0 means reject all. For example filtering to get only sig1 and sig5 means using sigmap = 17 (1 + 16). 00509 */ 00510 T_pixy2ErrorCode pixy2_getBlocks (Byte sigmap, Byte maxBloc); 00511 00512 /** 00513 * Gets the latest main features of Line tracking in the most recent frame. 00514 * The results are returned in the variables vectors, intersections, and barcodes, respectively. 00515 * The main feature is the feature that is the most likely to be relevant for line traking. 00516 * In case of multiple vector (for example 2 lines unconnected), the function will return only the vector of the line you are the most likely to follow. 00517 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00518 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00519 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00520 * @param feature (Byte - passed by value) : feature filtering 00521 * @return T_pixy2ErrorCode : error code. 00522 * @note There are 3 possible features (vectors, intersections and barcodes). 00523 * @note Filtering is based on ORing codes : 1 for vectors, 2 for intersections, 4 for barcodes. 00524 * @note So 7 = accept all, 0 = reject all. For example filtering to get only vectors and barcode means using feature = 5 (1 + 4). 00525 */ 00526 T_pixy2ErrorCode pixy2_getMainFeature (Byte features); 00527 00528 /** 00529 * Gets all the latest features of Line tracking in the most recent frame. 00530 * The results are returned in the variables vectors[], intersections[], and barcodes[], respectively. 00531 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00532 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00533 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00534 * @param feature (Byte - passed by value) : feature filtering 00535 * @return T_pixy2ErrorCode : error code (if negative) or ORing of feature detected (if positive). 00536 * @note There are 3 possible features (vectors, intersections and barcodes). 00537 * @note Filtering or detected feature are based on ORing codes : 1 for vectors, 2 for intersections, 4 for barcodes. 00538 * @note So for filtering : 7 = accept all, 0 = reject all. For example filtering to get only vectors and barcode means using feature = 5 (1 + 4). 00539 * @note So for return value : 1 means only vector(s) detected, 2 means only intersection(s) detected, 3 vector(s) and intersection(s) detected and so on. 00540 */ 00541 T_pixy2ErrorCode pixy2_getAllFeature (Byte features); 00542 00543 /** 00544 * Sets various modes in the line tracking algorithm. 00545 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00546 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00547 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00548 * @param mode (Byte - passed by value) : ORing of required feature 00549 * @return T_pixy2ErrorCode : error code. 00550 * @note There are 3 possible features : 00551 * @note * LINE_MODE_TURN_DELAYED : Normally, the line tracking algorithm will choose the straightest path (branch) when encountering an intersection. Setting LINE_MODE_TURN_DELAYED will prevent the line tracking algorithm from choosing the path automatically. This is useful if your program doesn't know beforehand which path it wants to take at the next intersection. 00552 * @note * LINE_MODE_MANUAL_SELECT_VECTOR : Normally, the line tracking algorithm will choose what it thinks is the best Vector line automatically. Setting LINE_MODE_MANUAL_SELECT_VECTOR will prevent the line tracking algorithm from choosing the Vector automatically. Instead, your program will need to set the Vector by calling setVector(). 00553 * @note * LINE_MODE_WHITE_LINE : Normally, the line tracking algorithm will try to find dark lines on a light background (black lines). Setting LINE_MODE_WHITE_LINE will instruct the line tracking algorithm to look for light lines on a dark background (white lines). 00554 */ 00555 T_pixy2ErrorCode pixy2_setMode (Byte mode); 00556 00557 /** 00558 * Tells the line tracking algorithm which path it should take at the next intersection. 00559 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00560 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00561 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00562 * @param angle (sWord - passed by value) : angle closest to the next turn (in degree, between -180 and 180) 00563 * @return T_pixy2ErrorCode : error code. 00564 * @note Turn angles are specified in degrees, with 0 being straight ahead, left being 90 and right being -90, although any valid angle value can be used. 00565 * @note setNextTurn() will remember the turn angle you give it, and execute it at the next intersection. The line tracking algorithm will then go back to the default turn angle for subsequent intersections. 00566 * @note Upon encountering an intersection, the line tracking algorithm will find the path in the intersection that matches the turn angle most closely. 00567 */ 00568 T_pixy2ErrorCode pixy2_setNextTurn (sWord angle); 00569 00570 /** 00571 * Tells the line tracking algorithm which path to choose by default upon encountering an intersection. 00572 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00573 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00574 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00575 * @param angle (sWord - passed by value) : angle closest to the default turn (in degree, between -180 and 180) 00576 * @return T_pixy2ErrorCode : error code. 00577 * @note Turn angles are specified in degrees, with 0 being straight ahead, left being 90 and right being -90, although any valid angle value can be used. 00578 * @note The line tracking algorithm will find the path in the intersection that matches the default turn angle most closely. 00579 * @note A call to setNextTurn() will supercede the default turn angle for the next intersection. 00580 */ 00581 T_pixy2ErrorCode pixy2_setDefaultTurn (sWord angle); 00582 00583 /** 00584 * Tells witch vector the tracking algorithm must choose as default route upon encountering an intersection. 00585 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00586 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00587 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00588 * @param index (Byte - passed by value) : index of the line to follow 00589 * @return T_pixy2ErrorCode : error code. 00590 * @note If the LINE_MODE_MANUAL_SELECT_VECTOR mode bit is set, the line tracking algorithm will no longer choose the Vector automatically. Instead, setVector() will set the Vector by providing the index of the line. 00591 */ 00592 T_pixy2ErrorCode pixy2_setVector (Byte vectorIndex); 00593 00594 /** 00595 * Reverse the head and the tail of vectors 00596 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00597 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00598 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00599 * @return T_pixy2ErrorCode : error code. 00600 * @note The Vector has a direction. It normally points up, from the bottom of the camera frame to the top of the camera frame for a forward-moving robot. Calling reverseVector() will invert the vector. This will typically cause your robot to back-up and change directions. 00601 */ 00602 T_pixy2ErrorCode pixy2_ReverseVector (void); 00603 00604 /** 00605 * Returns the average RGB components of a square of 5x5 pixels centered on the given pixel coordinate 00606 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video 00607 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00608 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video_api 00609 * @param x (Word - passed by value) : X coordinate of the center of de 5x5 pixels square (in pixel, between 0 and 315) 00610 * @param y (Word - passed by value) : Y coordinate of the center of de 5x5 pixels square (in pixel, between 0 and 207) 00611 * @param saturate (Byte - passed by value) : scale the 3 RGB components so that the highest one of the 3 RGB components is set to 255 (boolean : zero or non-zero) 00612 * @param pixel (T_pixy2Pixel - passed by reference) : RGB pixel. 00613 * @return T_pixy2ErrorCode : error code. 00614 */ 00615 T_pixy2ErrorCode pixy2_getRGB (Word x, Word y, Byte saturate, T_pixy2Pixel **pixel); 00616 00617 // Variables globales Publiques 00618 /** 00619 * @var Pixy2_numBlocks (Byte) number of color blocks in Pixy2_blocks 00620 * @var Pixy2_blocks[] (T_pixy2Bloc) color blocks detected in the last frame 00621 * @var Pixy2_numVectors (Byte) number of vectors in Pixy2_vectors 00622 * @var Pixy2_vectors[] (T_pixy2Vector) vectors detected in the last frame 00623 * @var Pixy2_numIntersections (Byte) number of intersections in Pixy2_intersections 00624 * @var Pixy2_intersections[] (T_pixy2Intersection) intersections detected in the last frame 00625 * @var Pixy2_intersLine[] (T_pixy2IntLines) lines detected in the last frame 00626 * @var Pixy2_numVectors (Byte) number of vectors in Pixy2_blocks 00627 * @var Pixy2_vectors[] (T_pixy2Vector) vectors detected in the last frame 00628 */ 00629 Byte Pixy2_numBlocks; 00630 T_pixy2Bloc *Pixy2_blocks; 00631 Byte Pixy2_numVectors; 00632 T_pixy2Vector *Pixy2_vectors; 00633 Byte Pixy2_numIntersections; 00634 T_pixy2Intersection *Pixy2_intersections; 00635 Byte Pixy2_numBarcodes; 00636 T_pixy2BarCode *Pixy2_barcodes; 00637 00638 private : 00639 // Variables globales Privées 00640 /** 00641 * @var etat (T_Pixy2State) state of the pixy2 cam (idle = No action, messageSent = Query or Set message sent, receivingHeader = Camera is respondig to the query/set, receivingData = Header received, dataReceived = All data has been recovered) 00642 * @var Pixy2_buffer (Array of Byte) bytes received from camera 00643 * @var wPointer (Byte) write pointer, pointing the next free cell of the array of received bytes 00644 * @var hPointer (Byte) header pointer, pointing on the begining of the header field in the array of received bytes 00645 * @var dPointer (Byte) data pointer, pointing on the begining of the data field in the array of received bytes 00646 * @var dataSize (Byte) number of bytes in the data field 00647 * @var frameContainChecksum (Byte) indicate if the received frame contains a checksum 00648 */ 00649 T_Pixy2State etat; 00650 Byte* Pixy2_buffer; 00651 Byte wPointer, hPointer, dPointer, dataSize; 00652 Byte frameContainChecksum; 00653 00654 // Fonctions privées 00655 00656 /** 00657 * Queries the firmware and hardware version of Pixy2. 00658 * This function is part of the pixy2_getVersion function who treat the reply to this query. 00659 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00660 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00661 * @return T_pixy2ErrorCode : error code. 00662 */ 00663 T_pixy2ErrorCode pixy2_sndGetVersion (void); 00664 00665 /** 00666 * Queries width and height of the frames used by the current program. 00667 * This function is part of the pixy2_getResolution function who treat the reply to this query. 00668 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00669 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00670 * @return T_pixy2ErrorCode : error code. 00671 */ 00672 T_pixy2ErrorCode pixy2_sndGetResolution (void); 00673 00674 /** 00675 * Sends the relative exposure level of Pixy2's image sensor. 00676 * Higher values result in a brighter (more exposed) image. 00677 * This function is part of the pixy2_setCameraBrightness function who treat the acknowledge of this frame. 00678 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00679 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00680 * @param brightness (Byte - passed by value) : brightness level 00681 * @return T_pixy2ErrorCode : error code. 00682 */ 00683 T_pixy2ErrorCode pixy2_sndSetCameraBrightness (Byte brightness); 00684 00685 /** 00686 * Sends the servo positions of servos plugged into Pixy2's two RC servo connectors. 00687 * This function is part of the pixy2_setServo function who treat the acknowledge of this frame. 00688 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00689 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00690 * @param s0 (Word - passed by value) : value between 0 and 511 00691 * @param s1 (Word - passed by value) : value between 0 and 511 00692 * @return T_pixy2ErrorCode : error code. 00693 */ 00694 T_pixy2ErrorCode pixy2_sndSetServo (Word s0, Word s1); 00695 00696 /** 00697 * Sends Pixy2's RGB LED value. The three arguments sets the brightness of the red, green and blue sections of the LED. 00698 * It will override Pixy2's own setting of the RGB LED. 00699 * This function is part of the pixy2_setLED function who treat the acknowledge of this frame. 00700 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00701 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00702 * @param red (Byte - passed by value) : Red component value (between 0 and 255) 00703 * @param green (Byte - passed by value) : Green component value (between 0 and 255) 00704 * @param blue (Byte - passed by value) : Blue component value (between 0 and 255) 00705 * @return T_pixy2ErrorCode : error code. 00706 */ 00707 T_pixy2ErrorCode pixy2_sndSetLED (Byte red, Byte green, Byte blue); 00708 00709 /** 00710 * Sends command that turns on/off Pixy2's integrated light source. 00711 * The upper argument controls the two white LEDs along the top edge of Pixy2's PCB. The lower argument sets the RGB LED, causing it to turn on all three color channels at full brightness, resulting in white light. 00712 * It will override Pixy2's own setting of the RGB LED. 00713 * This function is part of the pixy2_setLamp function who treat the acknowledge of this frame. 00714 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00715 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00716 * @param upper (Byte - passed by value) : switch on or off the upper lamps (boolean : zero or non-zero) 00717 * @param lower (Byte - passed by value) : switch on or off the lower lamp (boolean : zero or non-zero) 00718 * @return T_pixy2ErrorCode : error code. 00719 */ 00720 T_pixy2ErrorCode pixy2_sndSetLamp (Byte upper, Byte lower); 00721 00722 /** 00723 * Queries Pixy2's framerate. 00724 * This function is part of the pixy2_getFPS function who treat the reply to this query. 00725 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00726 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api 00727 * @return T_pixy2ErrorCode : error code. 00728 */ 00729 T_pixy2ErrorCode pixy2_sndGetFPS (void); 00730 00731 /** 00732 * Queries all detected color blocks in the most recent frame. 00733 * This function is part of the pixy2_getBlocks function who treat the reply to this query. 00734 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:color_connected_components 00735 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00736 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__ccc_api 00737 * @param sigmap (Byte - passed by value) : signature filtering 00738 * @param maxBloc (Byte - passed by value) : maximum number of blocks to return 00739 * @return T_pixy2ErrorCode : error code. 00740 * @note There are 7 different signatures definition (sig1 to sig7). Color codes are made of a combination of signature and can be filtered as well. 00741 * @note Filtering is based on ORing codes : 1 for sig1, 2 for sig2, 4 for sig3, 8 for sig4, 16 for sig5, 32 for sig6, 64 sor sig7 and 128 for color code. 00742 * @note So sigmap = 255 means accept all and sigmap = 0 means reject all. For example filtering to get only sig1 and sig5 means using sigmap = 17 (16 + 1). 00743 */ 00744 T_pixy2ErrorCode pixy2_sndGetBlocks (Byte sigmap, Byte maxBloc); 00745 00746 /** 00747 * Queries the latest features of Line tracking in the most recent frame. 00748 * The results are returned in the variables vectors, intersections, and barcodes, respectively. 00749 * This function is part of the pixy2_getMainFeature or pixy2_getAllFeature function who treat the reply to this query. 00750 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00751 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00752 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00753 * @param type (Byte - passed by value) : select between Main or All features (0 for main feature only, 1 for all features) 00754 * @param feature (Byte - passed by value) : feature filtering 00755 * @return T_pixy2ErrorCode : error code (if negative) or ORing of feature detected (if positive). 00756 * @note There are 3 possible features (vectors, intersections and barcodes). 00757 * @note Filtering or detected feature are based on ORing codes : 1 for vectors, 2 for intersections, 4 for barcodes. 00758 * @note So for filtering : 7 = accept all, 0 = reject all. For example filtering to get only vectors and barcode means using feature = 5 (1 + 4). 00759 * @note So for return value : 1 means only vector(s) detected, 2 means only intersection(s) detected, 3 vector(s) and intersection(s) detected and so on. 00760 */ 00761 T_pixy2ErrorCode pixy2_sndGetLineFeature (Byte type, Byte feature); 00762 00763 /** 00764 * Sets various modes in the line tracking algorithm. 00765 * This function is part of the pixy2_setMode function who treat the acknowledge of this frame. 00766 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00767 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00768 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00769 * @param mode (Byte - passed by value) : ORing of required feature 00770 * @return T_pixy2ErrorCode : error code. 00771 * @note There are 3 possible features : 00772 * @note * LINE_MODE_TURN_DELAYED : Normally, the line tracking algorithm will choose the straightest path (branch) when encountering an intersection. Setting LINE_MODE_TURN_DELAYED will prevent the line tracking algorithm from choosing the path automatically. This is useful if your program doesn't know beforehand which path it wants to take at the next intersection. 00773 * @note * LINE_MODE_MANUAL_SELECT_VECTOR : Normally, the line tracking algorithm will choose what it thinks is the best Vector line automatically. Setting LINE_MODE_MANUAL_SELECT_VECTOR will prevent the line tracking algorithm from choosing the Vector automatically. Instead, your program will need to set the Vector by calling setVector(). 00774 * @note * LINE_MODE_WHITE_LINE : Normally, the line tracking algorithm will try to find dark lines on a light background (black lines). Setting LINE_MODE_WHITE_LINE will instruct the line tracking algorithm to look for light lines on a dark background (white lines). 00775 */ 00776 T_pixy2ErrorCode pixy2_sndSetMode (Byte mode); 00777 00778 /** 00779 * Tells the line tracking algorithm which path it should take at the next intersection. 00780 * This function is part of the pixy2_setNextTurn function who treat the acknowledge of this frame. 00781 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00782 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00783 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00784 * @param angle (sWord - passed by value) : angle closest to the next turn (in degree, between -180 and 180) 00785 * @return T_pixy2ErrorCode : error code. 00786 * @note Turn angles are specified in degrees, with 0 being straight ahead, left being 90 and right being -90, although any valid angle value can be used. 00787 * @note setNextTurn() will remember the turn angle you give it, and execute it at the next intersection. The line tracking algorithm will then go back to the default turn angle for subsequent intersections. 00788 * @note Upon encountering an intersection, the line tracking algorithm will find the path in the intersection that matches the turn angle most closely. 00789 */ 00790 T_pixy2ErrorCode pixy2_sndSetNextTurn (Word angle); 00791 00792 /** 00793 * Tells the line tracking algorithm which path to choose by default upon encountering an intersection. 00794 * This function is part of the pixy2_setDefaultTurn function who treat the acknowledge of this frame. 00795 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00796 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00797 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00798 * @param angle (sWord - passed by value) : angle closest to the default turn (in degree, between -180 and 180) 00799 * @return T_pixy2ErrorCode : error code. 00800 * @note Turn angles are specified in degrees, with 0 being straight ahead, left being 90 and right being -90, although any valid angle value can be used. 00801 * @note The line tracking algorithm will find the path in the intersection that matches the default turn angle most closely. 00802 * @note A call to setNextTurn() will supercede the default turn angle for the next intersection. 00803 */ 00804 T_pixy2ErrorCode pixy2_sndSetDefaultTurn (Word angle); 00805 00806 /** 00807 * Tells witch vector the tracking algorithm must choose as default route upon encountering an intersection. 00808 * This function is part of the pixy2_setVector function who treat the acknowledge of this frame. 00809 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00810 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00811 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00812 * @param vectorindex (Byte - passed by value) : index of the vector to follow 00813 * @return T_pixy2ErrorCode : error code. 00814 * @note If the LINE_MODE_MANUAL_SELECT_VECTOR mode bit is set, the line tracking algorithm will no longer choose the Vector automatically. Instead, setVector() will set the Vector by providing the index of the line. 00815 */ 00816 T_pixy2ErrorCode pixy2_sndSetVector (Byte vectorIndex); 00817 00818 /** 00819 * Reverse the head and the tail of vectors 00820 * This function is part of the pixy2_reverseVector function who treat the acknowledge of this frame. 00821 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00822 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00823 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00824 * @return T_pixy2ErrorCode : error code. 00825 * @note The Vector has a direction. It normally points up, from the bottom of the camera frame to the top of the camera frame for a forward-moving robot. Calling reverseVector() will invert the vector. This will typically cause your robot to back-up and change directions. 00826 */ 00827 T_pixy2ErrorCode pixy2_sndReverseVector (void); 00828 00829 /** 00830 * Queries the average RGB components of a square of 5x5 pixels centered on the given pixel coordinate 00831 * This function is part of the pixy2_getRGB function who treat the reply to this query. 00832 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video 00833 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00834 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video_api 00835 * @param x (Word - passed by value) : X coordinate of the center of de 5x5 pixels square (in pixel, between 0 and 315) 00836 * @param y (Word - passed by value) : Y coordinate of the center of de 5x5 pixels square (in pixel, between 0 and 207) 00837 * @param saturate (Byte - passed by value) : scale the 3 RGB components so that the highest one of the 3 RGB components is set to 255 (boolean : zero or non-zero) 00838 * @param pixel (T_pixy2Pixel - passed by reference) : RGB pixel. 00839 * @return T_pixy2ErrorCode : error code. 00840 */ 00841 T_pixy2ErrorCode pixy2_sndGetRGB (Word x, Word y, Byte saturate); 00842 00843 /** 00844 * Gets all the latest features of Line tracking in the most recent frame. 00845 * The results are returned in the variables vectors, intersections, and barcodes, respectively. 00846 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking 00847 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide 00848 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__line_api 00849 * @param feature (Byte - passed by value) : feature filtering 00850 * @return T_pixy2ErrorCode : error code. 00851 * @note There are 3 possible features (vectors, intersections and barcodes). 00852 * @note Filtering is based on ORing codes : 1 for vectors, 2 for intersections, 4 for barcodes. 00853 * @note So 7 = accept all, 0 = reject all. For example filtering to get only vectors and barcode means using feature = 5 (1 + 4). 00854 */ 00855 T_pixy2ErrorCode pixy2_getFeatures (void); 00856 00857 void pixy2_getByte (); 00858 T_pixy2ErrorCode pixy2_validateChecksum (Byte* tab); 00859 }; // End Class 00860 00861 #endif
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