Package ftclib.archive

Class FtcPixyCam1

java.lang.Object

trclib.archive.TrcPixyCam1

ftclib.archive.FtcPixyCam1

public class FtcPixyCam1
extends TrcPixyCam1

This class implements a platform dependent pixy camera 1 that is connected to an I2C bus. It provides access to the last detected objects reported by the pixy camera asynchronously.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.archive.TrcPixyCam1

TrcPixyCam1.ObjectBlock, TrcPixyCam1.RequestId

Field Summary

Fields

Modifier and Type	Field	Description
private static final int	DEF_I2C_ADDRESS
private final FtcI2cDevice	pixyCam
private static final boolean	USE_BUFFERED_READ

Fields inherited from class trclib.archive.TrcPixyCam1

instanceName

Constructor Summary

Constructors

Constructor	Description
FtcPixyCam1(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, int devAddress, boolean addressIs7Bit)	Constructor: Create an instance of the object.
FtcPixyCam1(String instanceName)	Constructor: Create an instance of the object.
FtcPixyCam1(String instanceName, int devAddress, boolean addressIs7Bit)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	asyncReadData(TrcPixyCam1.RequestId requestId, int length)	This method issues an asynchronous read of the specified number of bytes from the device.
void	asyncWriteData(TrcPixyCam1.RequestId requestId, byte[] data)	This method writes the data buffer to the device asynchronously.
boolean	isEnabled()	This method checks if the pixy camera is enabled.
void	setEnabled(boolean enabled)	This method enables/disables the pixy camera.

Methods inherited from class trclib.archive.TrcPixyCam1

asyncWriteBytes, end, getDetectedObjects, requestHandler, setBrightness, setLED, setPanTilt, start, toString

Methods inherited from class java.lang.Object

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

Field Details

DEF_I2C_ADDRESS

private static final int DEF_I2C_ADDRESS

See Also:

• Constant Field Values

USE_BUFFERED_READ

private static final boolean USE_BUFFERED_READ

See Also:

• Constant Field Values

pixyCam

private final FtcI2cDevice pixyCam

Constructor Details

FtcPixyCam1

public FtcPixyCam1(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 int devAddress,
 boolean addressIs7Bit)

Constructor: Create an instance of the object.

Parameters:

hardwareMap - specifies the global hardware map.

instanceName - specifies the instance name.

devAddress - specifies the I2C address of the device.

addressIs7Bit - specifies true if the I2C address is a 7-bit address, false if it is 8-bit.

FtcPixyCam1

public FtcPixyCam1(String instanceName,
 int devAddress,
 boolean addressIs7Bit)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

devAddress - specifies the I2C address of the device.

addressIs7Bit - specifies true if the I2C address is a 7-bit address, false if it is 8-bit.

FtcPixyCam1

public FtcPixyCam1(String instanceName)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

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.

asyncReadData

public void asyncReadData(TrcPixyCam1.RequestId requestId,
 int length)

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

Specified by:

asyncReadData in class TrcPixyCam1

Parameters:

requestId - specifies the ID to identify the request. Can be null if none was provided.

length - specifies the number of bytes to read.

asyncWriteData

public void asyncWriteData(TrcPixyCam1.RequestId requestId,
 byte[] data)

This method writes the data buffer to the device asynchronously.

Specified by:

asyncWriteData in class TrcPixyCam1

Parameters:

requestId - specifies the ID to identify the request. Can be null if none was provided.

data - specifies the data buffer.