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/**
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* \file pros/vision.h
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* \ingroup c-vision
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*
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* Contains prototypes for the VEX Vision Sensor-related functions.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright (c) 2017-2023, Purdue University ACM SIGBots.
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* All rights reserved.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* \defgroup c-vision Vision Sensor C API
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* \note Additional example code for this module can be found in its [Tutorial.](@ref vision)
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*/
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#ifndef _PROS_VISION_H_
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#define _PROS_VISION_H_
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/**
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* \ingroup c-vision
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*/
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/**
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* \addtogroup c-vision
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* @{
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*/
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/// \name Macros
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///Parameters given by VEX
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///@{
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#define VISION_OBJECT_ERR_SIG 255
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/**
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* The width of the Vision Sensor’s field of view.
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*/
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#define VISION_FOV_WIDTH 316
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/**
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* The height of the Vision Sensor’s field of view.
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*/
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#define VISION_FOV_HEIGHT 212
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///@}
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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namespace pros {
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#endif
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/**
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* \enum vision_object_type_e_t
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* This enumeration defines the different types of objects that can be detected by the Vision Sensor
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*/
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typedef enum vision_object_type {
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E_VISION_OBJECT_NORMAL = 0,
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E_VISION_OBJECT_COLOR_CODE = 1,
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E_VISION_OBJECT_LINE = 2
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} vision_object_type_e_t;
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/**
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* \struct vision_signature_s_t
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* This structure contains the parameters used by the Vision Sensor to detect objects.
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*/
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typedef struct __attribute__((__packed__)) vision_signature {
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uint8_t id;
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uint8_t _pad[3];
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float range;
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int32_t u_min;
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int32_t u_max;
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int32_t u_mean;
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int32_t v_min;
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int32_t v_max;
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int32_t v_mean;
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uint32_t rgb;
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uint32_t type;
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} vision_signature_s_t;
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/**
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* \typedef vision_color_code_t
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* Color codes are just signatures with multiple IDs and a different type.
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*/
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typedef uint16_t vision_color_code_t;
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/**
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* \struct vision_object_s_t
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* This structure contains a descriptor of an object detected by the Vision Sensor
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*/
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typedef struct __attribute__((__packed__)) vision_object {
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/// Object signature
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uint16_t signature;
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/// Object type, e.g. normal, color code, or line detection
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vision_object_type_e_t type;
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/// Left boundary coordinate of the object
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int16_t left_coord;
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/// Top boundary coordinate of the object
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int16_t top_coord;
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/// Width of the object
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int16_t width;
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/// Height of the object
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int16_t height;
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/// Angle of a color code object in 0.1 degree units (e.g. 10 -> 1 degree, 155 -> 15.5 degrees)
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uint16_t angle;
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/// Coordinates of the middle of the object (computed from the values above)
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int16_t x_middle_coord;
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/// Coordinates of the middle of the object (computed from the values above)
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int16_t y_middle_coord;
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} vision_object_s_t;
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/**
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* \enum vision_zero
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* This enumeration defines different zero points for returned vision objects.
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*/
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typedef enum vision_zero {
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/// (0,0) coordinate is the top left of the FOV
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E_VISION_ZERO_TOPLEFT = 0,
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/// (0,0) coordinate is the center of the FOV
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E_VISION_ZERO_CENTER = 1
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} vision_zero_e_t;
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#ifdef PROS_USE_SIMPLE_NAMES
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#ifdef __cplusplus
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#define VISION_OBJECT_NORMAL pros::E_VISION_OBJECT_NORMAL
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#define VISION_OBJECT_COLOR_CODE pros::E_VISION_OBJECT_COLOR_CODE
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#define VISION_OBJECT_LINE pros::E_VISION_OBJECT_LINE
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#define VISION_ZERO_TOPLEFT pros::E_VISION_ZERO_TOPLEFT
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#define VISION_ZERO_CENTER pros::E_VISION_ZERO_CENTER
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#else
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#define VISION_OBJECT_NORMAL E_VISION_OBJECT_NORMAL
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#define VISION_OBJECT_COLOR_CODE E_VISION_OBJECT_COLOR_CODE
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#define VISION_OBJECT_LINE E_VISION_OBJECT_LINE
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#define VISION_ZERO_TOPLEFT E_VISION_ZERO_TOPLEFT
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#define VISION_ZERO_CENTER E_VISION_ZERO_CENTER
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#endif
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#endif
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#ifdef __cplusplus
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namespace c {
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#endif
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/// \name Functions
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///@{
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/**
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* Clears the vision sensor LED color, reseting it back to its default behavior,
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* displaying the most prominent object signature color.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* void initialize() {
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* vision_clear_led(VISION_PORT);
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* }
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* \endcode
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*/
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int32_t vision_clear_led(uint8_t port);
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/**
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* Creates a signature from the vision sensor utility
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*
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* \param id
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* The signature ID
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* \param u_min
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* Minimum value on U axis
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* \param u_max
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* Maximum value on U axis
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* \param u_mean
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* Mean value on U axis
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* \param v_min
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* Minimum value on V axis
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* \param v_max
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* Maximum value on V axis
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* \param v_mean
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* Mean value on V axis
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* \param range
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* Scale factor
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* \param type
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* Signature type
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*
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* \return A vision_signature_s_t that can be set using vision_set_signature
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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*
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* void opcontrol() {
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* // values acquired from the vision utility
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* vision_signature_s_t RED_SIG =
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* vision_signature_from_utility(EXAMPLE_SIG, 8973, 11143, 10058, -2119, -1053, -1586, 5.4, 0);
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* vision_set_signature(VISION_PORT, EXAMPLE_SIG, &RED_SIG);
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* while (true) {
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* vision_signature_s_t rtn = vision_get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
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* // Gets the largest object of the EXAMPLE_SIG signature
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* printf("sig: %d", rtn.signature);
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* // Prints "sig: 1"
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* delay(2);
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* }
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* }
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* \endcode
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*/
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vision_signature_s_t vision_signature_from_utility(const int32_t id, const int32_t u_min, const int32_t u_max,
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const int32_t u_mean, const int32_t v_min, const int32_t v_max,
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const int32_t v_mean, const float range, const int32_t type);
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/**
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* Creates a color code that represents a combination of the given signature
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* IDs. If fewer than 5 signatures are to be a part of the color code, pass 0
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* for the additional function parameters.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - Fewer than two signatures have been provided or one of the
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* signatures is out of its [1-7] range (or 0 when omitted).
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*
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* \param port
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* The V5 port number from 1-21
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* \param sig_id1
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* The first signature id [1-7] to add to the color code
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* \param sig_id2
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* The second signature id [1-7] to add to the color code
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* \param sig_id3
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* The third signature id [1-7] to add to the color code
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* \param sig_id4
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* The fourth signature id [1-7] to add to the color code
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* \param sig_id5
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* The fifth signature id [1-7] to add to the color code
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*
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* \return A vision_color_code_t object containing the color code information.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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* #define OTHER_SIG 2
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*
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* void opcontrol() {
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* vision_color_code_t code1 = vision_create_color_code(VISION_PORT, EXAMPLE_SIG, OTHER_SIG);
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* }
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* \endcode
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*/
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vision_color_code_t vision_create_color_code(uint8_t port, const uint32_t sig_id1, const uint32_t sig_id2,
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const uint32_t sig_id3, const uint32_t sig_id4, const uint32_t sig_id5);
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/**
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* Gets the nth largest object according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EHOSTDOWN - Reading the vision sensor failed for an unknown reason.
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*
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* \param port
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* The V5 port number from 1-21
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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*
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* \return The vision_object_s_t object corresponding to the given size id, or
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* PROS_ERR if an error occurred.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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*
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* void opcontrol() {
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* while (true) {
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* vision_object_s_t rtn = vision_get_by_size(VISION_PORT, 0);
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* // Gets the largest object
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* printf("sig: %d", rtn.signature);
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* delay(2);
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* }
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* }
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* \endcode
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*/
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vision_object_s_t vision_get_by_size(uint8_t port, const uint32_t size_id);
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/**
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* Gets the nth largest object of the given signature according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a vision sensor
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* EINVAL - sig_id is outside the range [1-8]
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* EDOM - size_id is greater than the number of available objects.
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param port
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* The V5 port number from 1-21
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param signature
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* The signature ID [1-7] for which an object will be returned.
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*
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* \return The vision_object_s_t object corresponding to the given signature and
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* size_id, or PROS_ERR if an error occurred.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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*
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* void opcontrol() {
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* while (true) {
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* vision_object_s_t rtn = vision_get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
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* // Gets the largest object of the EXAMPLE_SIG signature
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* printf("sig: %d", rtn.signature);
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* // Prints "sig: 1"
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* delay(2);
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* }
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* }
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* \endcode
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*/
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vision_object_s_t vision_get_by_sig(uint8_t port, const uint32_t size_id, const uint32_t sig_id);
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/**
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* Gets the nth largest object of the given color code according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a vision sensor
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param port
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* The V5 port number from 1-21
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param color_code
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* The vision_color_code_t for which an object will be returned
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*
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* \return The vision_object_s_t object corresponding to the given color code
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* and size_id, or PROS_ERR if an error occurred.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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* #define OTHER_SIG 2
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*
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* void opcontrol() {
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* vision_color_code_t code1 = vision_create_color_code(VISION_PORT, EXAMPLE_SIG, OTHER_SIG);
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* while (true) {
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* vision_object_s_t rtn = vision_get_by_code(VISION_PORT, 0, code1);
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* // Gets the largest object
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* printf("sig: %d", rtn.signature);
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* delay(2);
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||||
* }
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* }
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* \endcode
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*/
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vision_object_s_t vision_get_by_code(uint8_t port, const uint32_t size_id, const vision_color_code_t color_code);
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/**
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* Gets the exposure parameter of the Vision Sensor.
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*
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* This function uses the following values of errno when an error state is
|
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* reached:
|
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* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
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*
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* \param port
|
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* The V5 port number from 1-21
|
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*
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* \return The current exposure setting from [0,150], PROS_ERR if an error
|
||||
* occurred
|
||||
*
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||||
* \b Example
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||||
* \code
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* #define VISION_PORT 1
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*
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* void initialize() {
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* if (vision_get_exposure(VISION_PORT) < 50)
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* vision_set_exposure(VISION_PORT, 50);
|
||||
* }
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* \endcode
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||||
*/
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int32_t vision_get_exposure(uint8_t port);
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/**
|
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* Gets the number of objects currently detected by the Vision Sensor.
|
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*
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||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
*
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||||
* \return The number of objects detected on the specified vision sensor.
|
||||
* Returns PROS_ERR if the port was invalid or an error occurred.
|
||||
*
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||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
*
|
||||
* void opcontrol() {
|
||||
* while (true) {
|
||||
* printf("Number of Objects Detected: %d\n", vision_get_object_count(VISION_PORT));
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||||
* delay(2);
|
||||
* }
|
||||
* }
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||||
* \endcode
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||||
*/
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int32_t vision_get_object_count(uint8_t port);
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||||
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||||
/**
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||||
* Get the white balance parameter of the Vision Sensor.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
*
|
||||
* \return The current RGB white balance setting of the sensor
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define VISION_WHITE 0xff
|
||||
*
|
||||
* void initialize() {
|
||||
* if (vision_get_white_balance(VISION_PORT) != VISION_WHITE)
|
||||
* vision_set_white_balance(VISION_PORT, VISION_WHITE);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_get_white_balance(uint8_t port);
|
||||
|
||||
/**
|
||||
* Prints the contents of the signature as an initializer list to the terminal.
|
||||
*
|
||||
* \param sig
|
||||
* The signature for which the contents will be printed
|
||||
*
|
||||
* \return 1 if no errors occured, PROS_ERR otherwise
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define EXAMPLE_SIG 1
|
||||
*
|
||||
* void opcontrol() {
|
||||
* vision_signature_s_t sig = vision_get_signature(VISION_PORT, EXAMPLE_SIG);
|
||||
* vision_print_signature(sig);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_print_signature(const vision_signature_s_t sig);
|
||||
|
||||
/**
|
||||
* Reads up to object_count object descriptors into object_arr.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21), or
|
||||
* fewer than object_count number of objects were found.
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
* EDOM - size_id is greater than the number of available objects.
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param size_id
|
||||
* The object to read from a list roughly ordered by object size
|
||||
* (0 is the largest item, 1 is the second largest, etc.)
|
||||
* \param object_count
|
||||
* The number of objects to read
|
||||
* \param[out] object_arr
|
||||
* A pointer to copy the objects into
|
||||
*
|
||||
* \return The number of object signatures copied. This number will be less than
|
||||
* object_count if there are fewer objects detected by the vision sensor.
|
||||
* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
|
||||
* than size_id were found. All objects in object_arr that were not found are
|
||||
* given VISION_OBJECT_ERR_SIG as their signature.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define NUM_VISION_OBJECTS 4
|
||||
*
|
||||
* void opcontrol() {
|
||||
* vision_object_s_t object_arr[NUM_VISION_OBJECTS];
|
||||
* while (true) {
|
||||
* vision_read_by_size(VISION_PORT, 0, NUM_VISION_OBJECTS, object_arr);
|
||||
* printf("sig: %d", object_arr[0].signature);
|
||||
* // Prints the signature of the largest object found
|
||||
* delay(2);
|
||||
* }
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_read_by_size(uint8_t port, const uint32_t size_id, const uint32_t object_count,
|
||||
vision_object_s_t* const object_arr);
|
||||
|
||||
/**
|
||||
* Reads up to object_count object descriptors into object_arr.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21), or
|
||||
* fewer than object_count number of objects were found.
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
* EDOM - size_id is greater than the number of available objects.
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param object_count
|
||||
* The number of objects to read
|
||||
* \param size_id
|
||||
* The object to read from a list roughly ordered by object size
|
||||
* (0 is the largest item, 1 is the second largest, etc.)
|
||||
* \param signature
|
||||
* The signature ID [1-7] for which objects will be returned.
|
||||
* \param[out] object_arr
|
||||
* A pointer to copy the objects into
|
||||
*
|
||||
* \return The number of object signatures copied. This number will be less than
|
||||
* object_count if there are fewer objects detected by the vision sensor.
|
||||
* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
|
||||
* than size_id were found. All objects in object_arr that were not found are
|
||||
* given VISION_OBJECT_ERR_SIG as their signature.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define EXAMPLE_SIG 1
|
||||
* #define NUM_VISION_OBJECTS 4
|
||||
*
|
||||
* void opcontrol() {
|
||||
* vision_object_s_t object_arr[NUM_VISION_OBJECTS];
|
||||
* while (true) {
|
||||
* vision_read_by_sig(VISION_PORT, 0, EXAMPLE_SIG, NUM_VISION_OBJECTS, object_arr);
|
||||
* printf("sig: %d", object_arr[0].signature);
|
||||
* // Prints "sig: 1"
|
||||
* delay(2);
|
||||
* }
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_read_by_sig(uint8_t port, const uint32_t size_id, const uint32_t sig_id, const uint32_t object_count,
|
||||
vision_object_s_t* const object_arr);
|
||||
|
||||
/**
|
||||
* Reads up to object_count object descriptors into object_arr.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21), or
|
||||
* fewer than object_count number of objects were found.
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param object_count
|
||||
* The number of objects to read
|
||||
* \param size_id
|
||||
* The object to read from a list roughly ordered by object size
|
||||
* (0 is the largest item, 1 is the second largest, etc.)
|
||||
* \param color_code
|
||||
* The vision_color_code_t for which objects will be returned
|
||||
* \param[out] object_arr
|
||||
* A pointer to copy the objects into
|
||||
*
|
||||
* \return The number of object signatures copied. This number will be less than
|
||||
* object_count if there are fewer objects detected by the vision sensor.
|
||||
* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
|
||||
* than size_id were found. All objects in object_arr that were not found are
|
||||
* given VISION_OBJECT_ERR_SIG as their signature.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define EXAMPLE_SIG 1
|
||||
* #define OTHER_SIG 2
|
||||
* #define NUM_VISION_OBJECTS 4
|
||||
*
|
||||
* void opcontrol() {
|
||||
* vision_object_s_t object_arr[NUM_VISION_OBJECTS];
|
||||
* vision_color_code_t code1 = vision_create_color_code(VISION_PORT, EXAMPLE_SIG, OTHER_SIG, 0, 0, 0);
|
||||
* while (true) {
|
||||
* vision_read_by_code(VISION_PORT, 0, code1, NUM_VISION_OBJECTS, object_arr);
|
||||
* printf("sig: %d", object_arr[0].signature);
|
||||
* // Prints the signature of the largest object found
|
||||
* delay(2);
|
||||
* }
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_read_by_code(uint8_t port, const uint32_t size_id, const vision_color_code_t color_code,
|
||||
const uint32_t object_count, vision_object_s_t* const object_arr);
|
||||
|
||||
/**
|
||||
* Gets the object detection signature with the given id number.
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param signature_id
|
||||
* The signature id to read
|
||||
*
|
||||
* \return A vision_signature_s_t containing information about the signature.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define EXAMPLE_SIG 1
|
||||
*
|
||||
* void opcontrol() {
|
||||
* vision_signature_s_t sig = vision_get_signature(VISION_PORT, EXAMPLE_SIG);
|
||||
* vision_print_signature(sig);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
vision_signature_s_t vision_get_signature(uint8_t port, const uint8_t signature_id);
|
||||
|
||||
/**
|
||||
* Stores the supplied object detection signature onto the vision sensor.
|
||||
*
|
||||
* \note This saves the signature in volatile memory, and the signature will be
|
||||
* lost as soon as the sensor is powered down.
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param signature_id
|
||||
* The signature id to store into
|
||||
* \param[in] signature_ptr
|
||||
* A pointer to the signature to save
|
||||
*
|
||||
* \return 1 if no errors occured, PROS_ERR otherwise
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define EXAMPLE_SIG 1
|
||||
*
|
||||
* void opcontrol() {
|
||||
* vision_signature_s_t sig = vision_get_signature(VISION_PORT, EXAMPLE_SIG);
|
||||
* sig.range = 10.0;
|
||||
* vision_set_signature(VISION_PORT, EXAMPLE_SIG, &sig);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_set_signature(uint8_t port, const uint8_t signature_id, vision_signature_s_t* const signature_ptr);
|
||||
|
||||
/**
|
||||
* Enables/disables auto white-balancing on the Vision Sensor.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
* EINVAL - enable was not 0 or 1
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param enabled
|
||||
* Pass 0 to disable, 1 to enable
|
||||
*
|
||||
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||||
* failed, setting errno.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
*
|
||||
* void initialize() {
|
||||
* vision_set_auto_white_balance(VISION_PORT, true);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_set_auto_white_balance(uint8_t port, const uint8_t enable);
|
||||
|
||||
/**
|
||||
* Sets the exposure parameter of the Vision Sensor.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param percent
|
||||
* The new exposure setting from [0,150]
|
||||
*
|
||||
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||||
* failed, setting errno.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
*
|
||||
* void initialize() {
|
||||
* if (vision_get_exposure(VISION_PORT) < 50)
|
||||
* vision_set_exposure(VISION_PORT, 50);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_set_exposure(uint8_t port, const uint8_t exposure);
|
||||
|
||||
/**
|
||||
* Sets the vision sensor LED color, overriding the automatic behavior.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param rgb
|
||||
* An RGB code to set the LED to
|
||||
*
|
||||
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||||
* failed, setting errno.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
*
|
||||
* void initialize() {
|
||||
* vision_set_led(VISION_PORT, COLOR_BLANCHED_ALMOND);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_set_led(uint8_t port, const int32_t rgb);
|
||||
|
||||
/**
|
||||
* Sets the white balance parameter of the Vision Sensor.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param rgb
|
||||
* The new RGB white balance setting of the sensor
|
||||
*
|
||||
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||||
* failed, setting errno.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
* #define VISION_WHITE 0xff
|
||||
*
|
||||
* void initialize() {
|
||||
* vision_set_white_balance(VISION_PORT, VISION_WHITE);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_set_white_balance(uint8_t port, const int32_t rgb);
|
||||
|
||||
/**
|
||||
* Sets the (0,0) coordinate for the Field of View.
|
||||
*
|
||||
* This will affect the coordinates returned for each request for a
|
||||
* vision_object_s_t from the sensor, so it is recommended that this function
|
||||
* only be used to configure the sensor at the beginning of its use.
|
||||
*
|
||||
* This function uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
||||
* ENODEV - The port cannot be configured as a vision sensor
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param zero_point
|
||||
* One of vision_zero_e_t to set the (0,0) coordinate for the FOV
|
||||
*
|
||||
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||||
* failed, setting errno.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
*
|
||||
* void initialize() {
|
||||
* vision_set_zero_point(VISION_PORT, E_VISION_ZERO_CENTER);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_set_zero_point(uint8_t port, vision_zero_e_t zero_point);
|
||||
|
||||
/**
|
||||
* Sets the Wi-Fi mode of the Vision sensor
|
||||
*
|
||||
* This functions uses the following values of errno when an error state is
|
||||
* reached:
|
||||
* ENXIO - The given port is not within the range of V5 ports (1-21)
|
||||
* EACCESS - Anothe resources is currently trying to access the port
|
||||
*
|
||||
* \param port
|
||||
* The V5 port number from 1-21
|
||||
* \param enable
|
||||
* Disable Wi-Fi on the Vision sensor if 0, enable otherwise (e.g. 1)
|
||||
*
|
||||
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||||
* failed, setting errno.
|
||||
*
|
||||
* \b Example
|
||||
* \code
|
||||
* #define VISION_PORT 1
|
||||
*
|
||||
* void initialize() {
|
||||
* vision_set_wifi_mode(VISION_PORT, 0);
|
||||
* }
|
||||
* \endcode
|
||||
*/
|
||||
int32_t vision_set_wifi_mode(uint8_t port, const uint8_t enable);
|
||||
|
||||
///@}
|
||||
|
||||
///@}
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // namespace c
|
||||
} // namespace pros
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // _PROS_VISION_H_
|
||||
Reference in new issue
Block a user