Package ftclib.archive

Class FtcPixyCam2

java.lang.Object

trclib.archive.TrcPixyCam2

ftclib.archive.FtcPixyCam2

public class FtcPixyCam2
extends TrcPixyCam2

This class implements a platform dependent pixy camera 2 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.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
private static final int	DEF_I2C_ADDRESS
private final FtcI2cDevice	pixyCam
private static final boolean	USE_BUFFERED_READ

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
FtcPixyCam2(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, int devAddress, boolean addressIs7Bit)	Constructor: Create an instance of the object.
FtcPixyCam2(String instanceName)	Constructor: Create an instance of the object.
FtcPixyCam2(String instanceName, int devAddress, boolean addressIs7Bit)	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 a synchronous read of the specified number of bytes from the device.
void	syncWriteRequest(byte[] data)	This method writes the data buffer to the device synchronously.

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_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

FtcPixyCam2

public FtcPixyCam2(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.

FtcPixyCam2

public FtcPixyCam2(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.

FtcPixyCam2

public FtcPixyCam2(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.

syncReadResponse

public byte[] syncReadResponse()

This method issues a synchronous 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 synchronously.

Specified by:

syncWriteRequest in class TrcPixyCam2

Parameters:

data - specifies the data buffer.