734 lines
23 KiB
C++
734 lines
23 KiB
C++
/**
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* \file pros/vision.hpp
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* \ingroup cpp-vision
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*
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* Contains prototypes for the VEX Vision Sensor-related functions in C++.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright (c) 2017-2023, Purdue University ACM SIGBots.
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* All rights reserved.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* \defgroup cpp-vision Vision Sensor C++ API
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* \note Additional example code for this module can be found in its [Tutorial.](@ref vision)
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*/
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#ifndef _PROS_VISION_HPP_
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#define _PROS_VISION_HPP_
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#include <cstdint>
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#include "pros/vision.h"
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namespace pros {
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inline namespace v5 {
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/**
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* \ingroup cpp-vision
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*/
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class Vision : public Device {
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/**
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* \addtogroup cpp-vision
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* @{
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*/
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public:
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/**
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* Create a Vision Sensor object on the given port.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \param port
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* The V5 port number from 1-21
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* \param zero_point
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* One of vision_zero_e_t to set the (0,0) coordinate for the FOV
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*
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* \b Example
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* \code
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* void opcontrol() {
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* pros::Vision vision_sensor(1); // Creates a vision sensor on port one, with the zero point set to top left
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* }
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* \endcode
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*/
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explicit Vision(std::uint8_t port, vision_zero_e_t zero_point = E_VISION_ZERO_TOPLEFT);
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/**
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* Clears the vision sensor LED color, reseting it back to its default
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* behavior, displaying the most prominent object signature color.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* void initialize() {
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* pros::Vision vision_sensor(1);
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* vision_sensor.clear_led();
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* }
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* \endcode
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*/
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std::int32_t clear_led(void) const;
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/**
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* Creates a signature from the vision sensor utility
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*
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* \param id
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* The signature ID
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* \param u_min
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* Minimum value on U axis
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* \param u_max
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* Maximum value on U axis
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* \param u_mean
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* Mean value on U axis
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* \param v_min
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* Minimum value on V axis
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* \param v_max
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* Maximum value on V axis
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* \param v_mean
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* Mean value on V axis
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* \param rgb
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* Scale factor
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* \param type
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* Signature type
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*
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* \return A vision_signature_s_t that can be set using Vision::set_signature
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* // values acquired from the vision utility
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* vision_signature_s_t RED_SIG =
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* vision_signature_from_utility(EXAMPLE_SIG, 8973, 11143, 10058, -2119, -1053, -1586, 5.4, 0);
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* vision_sensor.set_signature(EXAMPLE_SIG, &RED_SIG);
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* while (true) {
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* vision_signature_s_t rtn = vision_sensor.get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
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* // Gets the largest object of the EXAMPLE_SIG signature
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* printf("sig: %d", rtn.signature);
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* // Prints "sig: 1"
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* delay(2);
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* }
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* }
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* \endcode
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*/
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static vision_signature_s_t signature_from_utility(const std::int32_t id, const std::int32_t u_min,
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const std::int32_t u_max, const std::int32_t u_mean,
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const std::int32_t v_min, const std::int32_t v_max,
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const std::int32_t v_mean, const float range,
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const std::int32_t type);
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/**
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* Creates a color code that represents a combination of the given signature
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* IDs.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - Fewer than two signatures have been provided or one of the
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* signatures is out of its [1-7] range (or 0 when omitted).
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*
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* \param sig_id1
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* The first signature id [1-7] to add to the color code
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* \param sig_id2
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* The second signature id [1-7] to add to the color code
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* \param sig_id3
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* The third signature id [1-7] to add to the color code
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* \param sig_id4
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* The fourth signature id [1-7] to add to the color code
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* \param sig_id5
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* The fifth signature id [1-7] to add to the color code
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*
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* \return A vision_color_code_t object containing the color code information.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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* #define OTHER_SIG 2
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG);
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* }
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* \endcode
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*/
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vision_color_code_t create_color_code(const std::uint32_t sig_id1, const std::uint32_t sig_id2,
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const std::uint32_t sig_id3 = 0, const std::uint32_t sig_id4 = 0,
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const std::uint32_t sig_id5 = 0) const;
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/**
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* Gets the nth largest object according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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*
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* \return The vision_object_s_t object corresponding to the given size id, or
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* PROS_ERR if an error occurred.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* while (true) {
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* vision_object_s_t rtn = vision_sensor.get_by_size(0);
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* // Gets the largest object
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* printf("sig: %d", rtn.signature);
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* delay(2);
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* }
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* }
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* \endcode
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*/
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vision_object_s_t get_by_size(const std::uint32_t size_id) const;
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/**
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* Gets the nth largest object of the given signature according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EINVAL - sig_id is outside the range [1-8]
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param signature
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* The vision_signature_s_t signature for which an object will be
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* returned.
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*
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* \return The vision_object_s_t object corresponding to the given signature
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* and size_id, or PROS_ERR if an error occurred.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* while (true) {
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* vision_object_s_t rtn = vision_sensor.get_by_sig(0, EXAMPLE_SIG);
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* // Gets the largest object of the EXAMPLE_SIG signature
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* printf("sig: %d", rtn.signature);
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* // Prints "sig: 1"
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* delay(2);
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* }
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* }
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* \endcode
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*/
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vision_object_s_t get_by_sig(const std::uint32_t size_id, const std::uint32_t sig_id) const;
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/**
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* Gets the nth largest object of the given color code according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EAGAIN - Reading the Vision Sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param color_code
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* The vision_color_code_t for which an object will be returned
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*
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* \return The vision_object_s_t object corresponding to the given color code
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* and size_id, or PROS_ERR if an error occurred.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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* #define OTHER_SIG 2
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG);
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* while (true) {
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* vision_object_s_t rtn = vision_sensor.get_by_code(0, code1);
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* // Gets the largest object
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* printf("sig: %d", rtn.signature);
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* delay(2);
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* }
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* }
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* \endcode
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*/
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vision_object_s_t get_by_code(const std::uint32_t size_id, const vision_color_code_t color_code) const;
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/**
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* Gets the exposure parameter of the Vision Sensor.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return The current exposure parameter from [0,150],
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* PROS_ERR if an error occurred
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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*
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* void initialize() {
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* pros::Vision vision_sensor(VISION_PORT);
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* if (vision_sensor.get_exposure() < 50)
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* vision_sensor.set_exposure(50);
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* }
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* \endcode
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*/
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std::int32_t get_exposure(void) const;
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/**
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* Gets the number of objects currently detected by the Vision Sensor.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return The number of objects detected on the specified vision sensor.
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* Returns PROS_ERR if the port was invalid or an error occurred.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* while (true) {
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* printf("Number of Objects Detected: %d\n", vision_sensor.get_object_count());
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* delay(2);
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* }
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* }
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* \endcode
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*/
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std::int32_t get_object_count(void) const;
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/**
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* Gets the object detection signature with the given id number.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \param signature_id
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* The signature id to read
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*
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* \return A vision_signature_s_t containing information about the signature.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* vision_signature_s_t sig = vision_sensor.get_signature(EXAMPLE_SIG);
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* vision_sensor.print_signature(sig);
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* }
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* \endcode
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*/
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vision_signature_s_t get_signature(const std::uint8_t signature_id) const;
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/**
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* Get the white balance parameter of the Vision Sensor.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return The current RGB white balance setting of the sensor
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define VISION_WHITE 0xff
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*
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* void initialize() {
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* pros::Vision vision_sensor(VISION_PORT);
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* if (vision_sensor.get_white_balance() != VISION_WHITE)
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* vision_sensor.set_white_balance(VISION_WHITE);
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* }
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* \endcode
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*/
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std::int32_t get_white_balance(void) const;
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/**
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* Reads up to object_count object descriptors into object_arr.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param object_count
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* The number of objects to read
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* \param[out] object_arr
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* A pointer to copy the objects into
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*
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* \return The number of object signatures copied. This number will be less than
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* object_count if there are fewer objects detected by the vision sensor.
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* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
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* than size_id were found. All objects in object_arr that were not found are
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* given VISION_OBJECT_ERR_SIG as their signature.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define NUM_VISION_OBJECTS 4
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* vision_object_s_t object_arr[NUM_VISION_OBJECTS];
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* while (true) {
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* vision_sensor.read_by_size(0, NUM_VISION_OBJECTS, object_arr);
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* printf("sig: %d", object_arr[0].signature);
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* // Prints the signature of the largest object found
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* delay(2);
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* }
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* }
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* \endcode
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*/
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std::int32_t read_by_size(const std::uint32_t size_id, const std::uint32_t object_count,
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vision_object_s_t* const object_arr) const;
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/**
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* Reads up to object_count object descriptors into object_arr.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EINVAL - sig_id is outside the range [1-8]
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param object_count
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* The number of objects to read
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param signature
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* The vision_signature_s_t signature for which an object will be
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* returned.
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* \param[out] object_arr
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* A pointer to copy the objects into
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*
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* \return The number of object signatures copied. This number will be less than
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* object_count if there are fewer objects detected by the vision sensor.
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* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
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* than size_id were found. All objects in object_arr that were not found are
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* given VISION_OBJECT_ERR_SIG as their signature.
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*
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* \b Example
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* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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* #define NUM_VISION_OBJECTS 4
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*
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* void opcontrol() {
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* pros::Vision vision_sensor(VISION_PORT);
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* vision_object_s_t object_arr[NUM_VISION_OBJECTS];
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* while (true) {
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* vision_sensor.read_by_sig(0, EXAMPLE_SIG, NUM_VISION_OBJECTS, object_arr);
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* printf("sig: %d", object_arr[0].signature);
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* // Prints "sig: 1"
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* delay(2);
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* }
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* }
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* \endcode
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*/
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std::int32_t read_by_sig(const std::uint32_t size_id, const std::uint32_t sig_id, const std::uint32_t object_count,
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vision_object_s_t* const object_arr) const;
|
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|
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/**
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* Reads up to object_count object descriptors into object_arr.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EDOM - size_id is greater than the number of available objects.
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* ENODEV - The port cannot be configured as a vision sensor
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param object_count
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* The number of objects to read
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param color_code
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* The vision_color_code_t for which objects will be returned
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* \param[out] object_arr
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* A pointer to copy the objects into
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*
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* \return The number of object signatures copied. This number will be less than
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* object_count if there are fewer objects detected by the vision sensor.
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* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
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* than size_id were found. All objects in object_arr that were not found are
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* given VISION_OBJECT_ERR_SIG as their signature.
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*
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* \b Example
|
|
* \code
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* #define VISION_PORT 1
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* #define EXAMPLE_SIG 1
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|
* #define OTHER_SIG 2
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* #define NUM_VISION_OBJECTS 4
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|
*
|
|
* void opcontrol() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
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* vision_object_s_t object_arr[NUM_VISION_OBJECTS];
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* vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG, 0, 0, 0);
|
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* while (true) {
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* vision_sensor.read_by_code(0, code1, NUM_VISION_OBJECTS, object_arr);
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* printf("sig: %d", object_arr[0].signature);
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* // Prints the signature of the largest object found
|
|
* delay(2);
|
|
* }
|
|
* }
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|
* \endcode
|
|
*/
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|
int32_t read_by_code(const std::uint32_t size_id, const vision_color_code_t color_code,
|
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const std::uint32_t object_count, vision_object_s_t* const object_arr) const;
|
|
|
|
/**
|
|
* Prints the contents of the signature as an initializer list to the terminal.
|
|
*
|
|
* \param sig
|
|
* The signature for which the contents will be printed
|
|
*
|
|
* \return 1 if no errors occured, PROS_ERR otherwise
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
* #define EXAMPLE_SIG 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* vision_signature_s_t sig = visionsensor.get_signature(EXAMPLE_SIG);
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|
* vision_print_signature(sig);
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|
* }
|
|
* \endcode
|
|
*/
|
|
static std::int32_t print_signature(const vision_signature_s_t sig);
|
|
|
|
/**
|
|
* Enables/disables auto white-balancing on the Vision Sensor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
|
*
|
|
* \param enabled
|
|
* Pass 0 to disable, 1 to enable
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
*
|
|
* void initialize() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* vision_sensor.set_auto_white_balance(true);
|
|
* }
|
|
* \endcode
|
|
*/
|
|
std::int32_t set_auto_white_balance(const std::uint8_t enable) const;
|
|
|
|
/**
|
|
* Sets the exposure parameter of the Vision Sensor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
|
*
|
|
* \param percent
|
|
* The new exposure setting from [0,150].
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
*
|
|
* void initialize() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* if (vision_sensor.get_exposure() < 50)
|
|
* vision_sensor.set_exposure(50);
|
|
* }
|
|
* \endcode
|
|
*/
|
|
std::int32_t set_exposure(const std::uint8_t exposure) const;
|
|
|
|
/**
|
|
* Sets the vision sensor LED color, overriding the automatic behavior.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
|
*
|
|
* \param rgb
|
|
* An RGB code to set the LED to
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
*
|
|
* void initialize() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* vision_sensor.set_led(COLOR_BLANCHED_ALMOND);
|
|
* }
|
|
* \endcode
|
|
*/
|
|
std::int32_t set_led(const std::int32_t rgb) const;
|
|
|
|
/**
|
|
* Stores the supplied object detection signature onto the vision sensor.
|
|
*
|
|
* NOTE: This saves the signature in volatile memory, and the signature will be
|
|
* lost as soon as the sensor is powered down.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
|
* EINVAL - sig_id is outside the range [1-8]
|
|
*
|
|
* \param signature_id
|
|
* The signature id to store into
|
|
* \param[in] signature_ptr
|
|
* A pointer to the signature to save
|
|
*
|
|
* \return 1 if no errors occured, PROS_ERR otherwise
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
* #define EXAMPLE_SIG 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* vision_signature_s_t sig = vision_sensor.get_signature(EXAMPLE_SIG);
|
|
* sig.range = 10.0;
|
|
* vision_sensor.set_signature(EXAMPLE_SIG, &sig);
|
|
* }
|
|
* \endcode
|
|
*/
|
|
std::int32_t set_signature(const std::uint8_t signature_id, vision_signature_s_t* const signature_ptr) const;
|
|
|
|
/**
|
|
* Sets the white balance parameter of the Vision Sensor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
|
*
|
|
* \param rgb
|
|
* The new RGB white balance setting of the sensor
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
* #define VISION_WHITE 0xff
|
|
*
|
|
* void initialize() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* vision_sensor.set_white_balance(VISION_WHITE);
|
|
* }
|
|
* \endcode
|
|
*/
|
|
std::int32_t set_white_balance(const std::int32_t rgb) const;
|
|
|
|
/**
|
|
* Sets the (0,0) coordinate for the Field of View.
|
|
*
|
|
* This will affect the coordinates returned for each request for a
|
|
* vision_object_s_t from the sensor, so it is recommended that this function
|
|
* only be used to configure the sensor at the beginning of its use.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
|
*
|
|
* \param zero_point
|
|
* One of vision_zero_e_t to set the (0,0) coordinate for the FOV
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
*
|
|
* void initialize() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* vision_sensor.set_zero_point(E_VISION_ZERO_CENTER);
|
|
* }
|
|
* \endcode
|
|
*/
|
|
std::int32_t set_zero_point(vision_zero_e_t zero_point) const;
|
|
|
|
/**
|
|
* Sets the Wi-Fi mode of the Vision sensor
|
|
*
|
|
* This functions uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
|
*
|
|
* \param enable
|
|
* Disable Wi-Fi on the Vision sensor if 0, enable otherwise (e.g. 1)
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define VISION_PORT 1
|
|
*
|
|
* void initialize() {
|
|
* pros::Vision vision_sensor(VISION_PORT);
|
|
* vision_sensor.set_wifi_mode(0);
|
|
* }
|
|
* \endcode
|
|
*/
|
|
std::int32_t set_wifi_mode(const std::uint8_t enable) const;
|
|
|
|
private:
|
|
///@}
|
|
};
|
|
} // namespace v5
|
|
} // namespace pros
|
|
#endif // _PROS_VISION_HPP_
|