This class interfaces with NXTCam attached to EVShield. More...

#include <EVs_NXTCam.h>

Inheritance diagram for EVs_NXTCam:

Public Member Functions
	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)

Public Member Functions inherited from EVShieldI2C
	EVShieldI2C (uint8_t i2c_address)

void	init (void *shield, SH_BankPort bp)

uint8_t	readByte (uint8_t location)

uint16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes, uint8_t *buf)

char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)

bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

char *	getFeatureSet ()

uint8_t	getErrorCode ()

bool	checkAddress ()

bool	setAddress (uint8_t address)

Public Member Functions inherited from BaseI2CDevice
	BaseI2CDevice (uint8_t i2c_address)

void	initProtocol ()

uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0, bool clear_buffer=false)

uint8_t	readByte (uint8_t location)

int16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)

bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

bool	checkAddress ()

bool	setAddress (uint8_t i2c_address)

uint8_t	getAddress ()

uint8_t	getWriteErrorCode ()

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

char *	getFeatureSet ()

Public Member Functions inherited from SoftI2cMaster
uint8_t	start (uint8_t addressRW)

void	stop (void)

uint8_t	restart (uint8_t addressRW)

uint8_t	write (uint8_t b)

uint8_t	read (uint8_t last)

	SoftI2cMaster (uint8_t devAddr)

void	initProtocol (uint8_t sclPin=(uint8_t) NULL, uint8_t sdaPin=(uint8_t) NULL)

uint8_t *	readRegisters (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL)

bool	writeRegistersWithLocation (int bytes, uint8_t *buf)

bool	writeRegisters (uint8_t location, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

char *	readString (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL, uint8_t len=0)

uint8_t	readByte (uint8_t location)

int16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

uint8_t	getWriteErrorCode ()

bool	checkAddress ()

bool	setAddress (uint8_t address)

Additional Inherited Members
Public Attributes inherited from EVShieldI2C
void *	mp_shield

uint8_t *	_i2c_buffer

uint8_t	m_protocol

Public Attributes inherited from SoftI2cMaster
uint8_t *	_so_buffer

Static Public Attributes inherited from BaseI2CDevice
static uint8_t *	_buffer = 0

static bool	b_initialized = false

Protected Member Functions inherited from BaseI2CDevice
void	setWriteErrorCode (uint8_t code)

Detailed Description

This class interfaces with NXTCam attached to EVShield.

Constructor & Destructor Documentation

§ EVs_NXTCam()

EVs_NXTCam::EVs_NXTCam ( uint8_t i2c_address = 0x02 )

class constructor for NXTCam with optional custom i2c address parameter

Member Function Documentation

§ camFirmware()

bool EVs_NXTCam::camFirmware ( )

get the firmware of the NXTCam

§ disableTracking()

bool EVs_NXTCam::disableTracking ( )

disable tracking for the NXTCam

§ enableTracking()

bool EVs_NXTCam::enableTracking ( )

enable tracking for the NXTCam

§ getBlobs()

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

This function gets the blob information of all the blobs that NXTCam is tracking. There could be upto 8 blobs being tracked by NXTCam. All the parameters of this function are return values. This function will return color and coordinate information for all the blobs.

Parameters

nblobs	In this variable, number of blobs NXTCam sees are returned. The blobs NXTCam sees could be of different color or same color. For e.g. if you have 3 colors defined, say red (color 1), blue (color 2) and green (color3), and you have 3 red objects and 2 blue objects and 1 green object in front of NXTCam, nblobs will be 6. color[]: a array of colors for the blobs in above example, Color array will have 6 valid elements - three bytes will say 1 (for color1), and 2 bytes will say (for color 2), and 1 byte will say 3 (for color 3). Based on sorting chosen, they will be sorted by size or color (if the sorting was color, first 3 bytes will be 1, next two will be 2 and next one will be 3).
color	a array of colors for the blobs (array has 8 elements)
left	the coordinate values of the blobs (array of 8 elements)
top	the coordinate values of the blobs (array of 8 elements)
right	the coordinate values of the blobs (array of 8 elements)
bottom	the coordinate values of the blobs (array of 8 elements)

Returns: look at the nblobs first to see how many blobs are being tracked, and then read the respective color and coordinate infromation.

§ getColorMap()

bool EVs_NXTCam::getColorMap ( )

get the current colormap of the NXTCam

§ getNumberObjects()

int EVs_NXTCam::getNumberObjects ( )

get the total number of objected tracked by the NXTCam

§ illuminationOff()

bool EVs_NXTCam::illuminationOff ( )

not impmemented yet

§ illuminationOn()

bool EVs_NXTCam::illuminationOn ( )

not impmemented yet

§ issueCommand()

uint8_t EVs_NXTCam::issueCommand ( char command )

issue character command byte to the command register of the NXTCam (command such as enable tracking, stop tracking, etc). Refer to User Guide for available commands.

§ pingCam()

bool EVs_NXTCam::pingCam ( )

ping the NXTCam to test connection

§ readImageRegisters()

bool EVs_NXTCam::readImageRegisters ( )

read the image registers of the CCD

§ resetCam()

bool EVs_NXTCam::resetCam ( )

reset the NXTCam

§ selectLineMode()

bool EVs_NXTCam::selectLineMode ( )

put the NXTCam in line tracking mode

§ selectObjectMode()

bool EVs_NXTCam::selectObjectMode ( )

configure the tracking mode of the device to object tracking

§ sendColorMap()

bool EVs_NXTCam::sendColorMap ( )

send ColorMap to the NXTCam

§ sortColor()

bool EVs_NXTCam::sortColor ( )

sort the blobs by color

§ sortNone()

bool EVs_NXTCam::sortNone ( )

clear any selected sort configuration

§ sortSize()

bool EVs_NXTCam::sortSize ( )

sort the blobs from the NXTCam byt blobs

§ writeImageRegisters()

bool EVs_NXTCam::writeImageRegisters ( )

write to the image registers of the CCD

The documentation for this class was generated from the following files:

C:/Program Files (x86)/Arduino-1.6.12/libraries/EVShield/EVs_NXTCam.h
C:/Program Files (x86)/Arduino-1.6.12/libraries/EVShield/EVs_NXTCam.cpp

Public Member Functions

Additional Inherited Members