EVs_NXTCam.h

// EVs_NXTCam.h
//
// This is a class for controlling the NXT Cam, made by Mindsensors.
// See http://www.mindsensors.com/index.php?module=pagemaster&PAGE_user_op=view_page&PAGE_id=78 .

// Initial version: 2010-06-18 by Andrew Sylvester
// Modified for EVShield: 2015-02-15 by Michael Giles
// Large parts of the code is ported from the NXC library for the device,
// written by Deepak Patil.

/*
  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/


#ifndef EVs_NXTCam_H
#define EVs_NXTCam_H

#define Cam_Command               0x41
#define Cam_Number_Objects           0x42
#define Start_Reg               0x43

#include "EVShieldI2C.h"

class EVs_NXTCam : public EVShieldI2C
{
public:
  EVs_NXTCam(uint8_t i2c_address = 0x02);
  
  uint8_t    issueCommand(char command);
  
  bool    sortSize();
  
  bool    selectObjectMode();
  
  bool    writeImageRegisters();
  
  bool    disableTracking();
  
  bool    enableTracking();
  
  bool    getColorMap();
  
  bool    illuminationOn();
  
  bool    readImageRegisters();
  
  bool    selectLineMode();
  
  bool    pingCam();
  
  bool    resetCam();
  
  bool    sendColorMap();
  
  bool    illuminationOff();
  
  bool    sortColor();
  
  bool    sortNone();
  
  bool    camFirmware();
  
  int      getNumberObjects();
  

  void    getBlobs(int *nblobs, uint8_t *color, uint8_t *left, uint8_t *top, uint8_t *right, uint8_t *bottom);

};

#endif