Package frclib.archive

Class FrcPixyCam2

java.lang.Object

trclib.archive.TrcPixyCam2

frclib.archive.FrcPixyCam2

public class FrcPixyCam2
extends TrcPixyCam2

This class implements a platform dependent pixy camera 2 that is either connected to an I2C bus, SPI or a Serial Port. It provides access to the last detected objects reported by the pixy camera synchronously.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.archive.TrcPixyCam2

TrcPixyCam2.Barcode, TrcPixyCam2.Block, TrcPixyCam2.Feature, TrcPixyCam2.FeatureBarcodes, TrcPixyCam2.FeatureIntersections, TrcPixyCam2.FeatureVectors, TrcPixyCam2.Intersection, TrcPixyCam2.IntersectionLine, TrcPixyCam2.Vector

Field Summary

Fields

Modifier and Type	Field	Description
static final int	DEF_BAUD_RATE
static final int	DEF_DATA_BITS
static final int	DEF_I2C_ADDRESS
static final edu.wpi.first.wpilibj.I2C.Port	DEF_I2C_PORT
static final edu.wpi.first.wpilibj.SerialPort.Parity	DEF_PARITY
static final edu.wpi.first.wpilibj.SerialPort.Port	DEF_SERIAL_PORT
static final edu.wpi.first.wpilibj.SerialPort.StopBits	DEF_STOP_BITS

Fields inherited from class trclib.archive.TrcPixyCam2

instanceName, PIXY2_BLOCKS_ALL_SIG, PIXY2_BLOCKS_SIG_1, PIXY2_BLOCKS_SIG_2, PIXY2_BLOCKS_SIG_3, PIXY2_BLOCKS_SIG_4, PIXY2_BLOCKS_SIG_5, PIXY2_BLOCKS_SIG_6, PIXY2_BLOCKS_SIG_7, PIXY2_BLOCKS_SIG_8, PIXY2_FEATURE_TYPE_ALL, PIXY2_FEATURE_TYPE_MAIN, PIXY2_FEATURES_ALL, PIXY2_FEATURES_BARCODE, PIXY2_FEATURES_INTERSECTION, PIXY2_FEATURES_VECTOR, PIXY2_LINE_FLAG_INTERSECTION_PRESENT, PIXY2_LINE_FLAG_INVALID, PIXY2_MAX_BLOCKS_ALL, PIXY2_SAT_FLAG_SATURATE, tracer

Constructor Summary

Constructors

Constructor	Description
FrcPixyCam2(String instanceName, edu.wpi.first.wpilibj.I2C.Port port)	Constructor: Create an instance of the object.
FrcPixyCam2(String instanceName, edu.wpi.first.wpilibj.I2C.Port port, int devAddress)	Constructor: Create an instance of the object.
FrcPixyCam2(String instanceName, edu.wpi.first.wpilibj.SerialPort.Port port)	Constructor: Create an instance of the object.
FrcPixyCam2(String instanceName, edu.wpi.first.wpilibj.SerialPort.Port port, int baudRate)	Constructor: Create an instance of the object.
FrcPixyCam2(String instanceName, edu.wpi.first.wpilibj.SerialPort.Port port, int baudRate, int dataBits, edu.wpi.first.wpilibj.SerialPort.Parity parity, edu.wpi.first.wpilibj.SerialPort.StopBits stopBits)	Constructor: Create an instance of the object.
FrcPixyCam2(String instanceName, edu.wpi.first.wpilibj.SPI.Port port)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
boolean	isEnabled()	This method checks if the pixy camera is enabled.
void	setEnabled(boolean enabled)	This method enables/disables the pixy camera.
byte[]	syncReadResponse()	This method issues an asynchronous read of the specified number of bytes from the device.
void	syncWriteRequest(byte[] data)	This method writes the data buffer to the device asynchronously.

Methods inherited from class trclib.archive.TrcPixyCam2

getAllFeatures, getBlocks, getFeatures, getFirmwareType, getFirmwareVersion, getFPS, getHardwareVersion, getMainFeatures, getResolutionHeight, getResolutionWidth, getRGB, reverseVector, setCameraBrightness, setDefaultTurn, setLamp, setLED, setMode, setNextTurn, setServos, setVector, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

DEF_I2C_PORT

public static final edu.wpi.first.wpilibj.I2C.Port DEF_I2C_PORT

DEF_I2C_ADDRESS

public static final int DEF_I2C_ADDRESS

See Also:

• Constant Field Values

DEF_SERIAL_PORT

public static final edu.wpi.first.wpilibj.SerialPort.Port DEF_SERIAL_PORT

DEF_BAUD_RATE

public static final int DEF_BAUD_RATE

See Also:

• Constant Field Values

DEF_DATA_BITS

public static final int DEF_DATA_BITS

See Also:

• Constant Field Values

DEF_PARITY

public static final edu.wpi.first.wpilibj.SerialPort.Parity DEF_PARITY

DEF_STOP_BITS

public static final edu.wpi.first.wpilibj.SerialPort.StopBits DEF_STOP_BITS

Constructor Details

FrcPixyCam2

public FrcPixyCam2(String instanceName,
 edu.wpi.first.wpilibj.SPI.Port port)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

port - specifies the SPI port on the RoboRIO.

FrcPixyCam2

public FrcPixyCam2(String instanceName,
 edu.wpi.first.wpilibj.I2C.Port port,
 int devAddress)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

port - specifies the I2C port on the RoboRIO.

devAddress - specifies the I2C address of the device.

FrcPixyCam2

public FrcPixyCam2(String instanceName,
 edu.wpi.first.wpilibj.I2C.Port port)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

port - specifies the I2C port on the RoboRIO.

FrcPixyCam2

public FrcPixyCam2(String instanceName,
 edu.wpi.first.wpilibj.SerialPort.Port port,
 int baudRate,
 int dataBits,
 edu.wpi.first.wpilibj.SerialPort.Parity parity,
 edu.wpi.first.wpilibj.SerialPort.StopBits stopBits)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

port - specifies the serial port on the RoboRIO.

baudRate - specifies the baud rate.

dataBits - specifies the number of data bits.

parity - specifies the parity type.

stopBits - specifies the number of stop bits.

FrcPixyCam2

public FrcPixyCam2(String instanceName,
 edu.wpi.first.wpilibj.SerialPort.Port port,
 int baudRate)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

port - specifies the serial port on the RoboRIO.

baudRate - specifies the baud rate.

FrcPixyCam2

public FrcPixyCam2(String instanceName,
 edu.wpi.first.wpilibj.SerialPort.Port port)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

port - specifies the serial port on the RoboRIO.

Method Details

isEnabled

public boolean isEnabled()

This method checks if the pixy camera is enabled.

Returns:

true if pixy camera is enabled, false otherwise.

setEnabled

public void setEnabled(boolean enabled)

This method enables/disables the pixy camera.

Parameters:

enabled - specifies true to enable pixy camera, false to disable.

syncReadResponse

public byte[] syncReadResponse()

This method issues an asynchronous read of the specified number of bytes from the device.

Specified by:

syncReadResponse in class TrcPixyCam2

syncWriteRequest

public void syncWriteRequest(byte[] data)

This method writes the data buffer to the device asynchronously.

Specified by:

syncWriteRequest in class TrcPixyCam2

Parameters:

data - specifies the data buffer.