pixy.h File Reference

#include <stdint.h>
#include <unistd.h>
#include <pixydefs.h>

Go to the source code of this file.

Classes
struct	Block

Macros
#define	TYPE_NORMAL   0
#define	TYPE_COLOR_CODE   1

Functions
int	pixy_init ()
	Creates a connection with Pixy and listens for Pixy messages. More...
int	pixy_blocks_are_new ()
	Indicates when new block data from Pixy is received. More...
int	pixy_get_blocks (uint16_t max_blocks, struct Block *blocks)
	Copies up to 'max_blocks' number of Blocks to the address pointed to by 'blocks'. More...
int	pixy_command (const char *name,...)
	Send a command to Pixy. More...
void	pixy_close ()
	Terminates connection with Pixy. More...
void	pixy_error (int error_code)
	Send description of pixy error to stdout. More...
int	pixy_led_set_RGB (uint8_t red, uint8_t green, uint8_t blue)
	Set color of pixy LED. More...
int	pixy_led_set_max_current (uint32_t current)
	Set pixy LED maximum current. More...
int	pixy_led_get_max_current ()
	Get pixy LED maximum current. More...
int	pixy_cam_set_auto_white_balance (uint8_t value)
	Enable or disable pixy camera auto white balance. More...
int	pixy_cam_get_auto_white_balance ()
	Get pixy camera auto white balance setting. More...
uint32_t	pixy_cam_get_white_balance_value ()
	Get pixy camera white balance() More...
int	pixy_cam_set_white_balance_value (uint8_t red, uint8_t green, uint8_t blue)
	Set pixy camera white balance. More...
int	pixy_cam_set_auto_exposure_compensation (uint8_t enable)
	Enable or disable pixy camera auto exposure compensation. More...
int	pixy_cam_get_auto_exposure_compensation ()
	Get pixy camera auto exposure compensation setting. More...
int	pixy_cam_set_exposure_compensation (uint8_t gain, uint16_t compensation)
	Set pixy camera exposure compensation. More...
int	pixy_cam_get_exposure_compensation (uint8_t *gain, uint16_t *compensation)
	Get pixy camera exposure compensation. More...
int	pixy_cam_set_brightness (uint8_t brightness)
	Set pixy camera brightness. More...
int	pixy_cam_get_brightness ()
	Get pixy camera brightness. More...
int	pixy_rcs_get_position (uint8_t channel)
	Get pixy servo axis position. More...
int	pixy_rcs_set_position (uint8_t channel, uint16_t position)
	Set pixy servo axis position. More...
int	pixy_rcs_set_frequency (uint16_t frequency)
	Set pixy servo pulse width modulation (PWM) frequency. More...
int	pixy_get_firmware_version (uint16_t *major, uint16_t *minor, uint16_t *build)
	Get pixy firmware version. More...

Macro Definition Documentation

#define TYPE_COLOR_CODE   1

Definition at line 31 of file pixy.h.

#define TYPE_NORMAL   0

Definition at line 30 of file pixy.h.

Function Documentation

int pixy_blocks_are_new

(

)

Indicates when new block data from Pixy is received.

Returns

1 New Data: Block data has been updated.

0 Stale Data: Block data has not changed since pixy_get_blocks() was last called.

Definition at line 106 of file pixy.cpp.

int pixy_cam_get_auto_exposure_compensation

(

)

Get pixy camera auto exposure compensation setting.

Returns

1 Auto exposure compensation enabled.

0 Auto exposure compensation disabled.

Negative Error

Definition at line 252 of file pixy.cpp.

int pixy_cam_get_auto_white_balance

(

)

Get pixy camera auto white balance setting.

Returns

1 Auto white balance is enabled.

0 Auto white balance is disabled.

Negative Error

Definition at line 203 of file pixy.cpp.

int pixy_cam_get_brightness

(

)

Get pixy camera brightness.

Returns

Non-negative Brightness value.

Negative Error

Definition at line 316 of file pixy.cpp.

int pixy_cam_get_exposure_compensation	(	uint8_t *	gain,
		uint16_t *	compensation
	)

Get pixy camera exposure compensation.

Parameters

[out]	gain	Camera gain.
[out]	comp	Camera exposure compensation.

Returns

0 Success

Negative Error

Definition at line 281 of file pixy.cpp.

uint32_t pixy_cam_get_white_balance_value

(

)

Get pixy camera white balance()

Returns

Composite value for RGB white balance: white balance = green_value + (red_value << 8) + (blue << 16)

Definition at line 219 of file pixy.cpp.

int pixy_cam_set_auto_exposure_compensation

(

uint8_t

enable

)

Enable or disable pixy camera auto exposure compensation.

Parameters

[in]

enable

0: Disable auto exposure compensation. 1: Enable auto exposure compensation.

Returns

0 Success

Negative Error

Definition at line 242 of file pixy.cpp.

int pixy_cam_set_auto_white_balance

(

uint8_t

value

)

Enable or disable pixy camera auto white balance.

Parameters

enable

1: Enable white balance. 0: Disable white balance.

Returns

0 Success

Negative Error

Definition at line 193 of file pixy.cpp.

int pixy_cam_set_brightness

(

uint8_t

brightness

)

Set pixy camera brightness.

Parameters

[in]

brightness

Brightness value.

Returns

0 Success

Negative Error

Definition at line 306 of file pixy.cpp.

int pixy_cam_set_exposure_compensation	(	uint8_t	gain,
		uint16_t	compensation
	)

Set pixy camera exposure compensation.

Parameters

[in]	gain	Camera gain.
[in]	comp	Camera exposure compensation.

Returns

0 Success

Negative Error

Definition at line 268 of file pixy.cpp.

int pixy_cam_set_white_balance_value	(	uint8_t	red,
		uint8_t	green,
		uint8_t	blue
	)

Set pixy camera white balance.

Parameters

[in]	red	Red white balance value.
[in]	green	Green white balance value.
[in]	blue	Blue white balance value.

Returns

0 Success

Negative Error

Definition at line 229 of file pixy.cpp.

void pixy_close

(

)

Terminates connection with Pixy.

Definition at line 125 of file pixy.cpp.

int pixy_command	(	const char *	name,
			...
	)

Send a command to Pixy.

Parameters

[in]

name

Chirp remote procedure call identifier string.

Returns

-1 Error

Definition at line 111 of file pixy.cpp.

void pixy_error

(

int

error_code

)

Send description of pixy error to stdout.

Parameters

[in]

error_code

Pixy error code

Definition at line 132 of file pixy.cpp.

int pixy_get_blocks	(	uint16_t	max_blocks,
		struct Block *	blocks
	)

Copies up to 'max_blocks' number of Blocks to the address pointed to by 'blocks'.

Parameters

[in]	max_blocks	Maximum number of Blocks to copy to the address pointed to by 'blocks'.
[out]	blocks	Address of an array in which to copy the blocks to. The array must be large enough to write 'max_blocks' number of Blocks to.

Returns

Non-negative Success: Number of blocks copied

PIXY_ERROR_USB_IO USB Error: I/O

PIXY_ERROR_NOT_FOUND USB Error: Pixy not found

PIXY_ERROR_USB_BUSY USB Error: Busy

PIXY_ERROR_USB_NO_DEVICE USB Error: No device

PIXY_ERROR_INVALID_PARAMETER Invalid pararmeter specified

Definition at line 101 of file pixy.cpp.

int pixy_get_firmware_version	(	uint16_t *	major,
		uint16_t *	minor,
		uint16_t *	build
	)

Get pixy firmware version.

Parameters

[out]	major	Major version component
[out]	minor	Minor version component
[out]	build	Build identifier

Returns

0 Success

Negative Error

Definition at line 376 of file pixy.cpp.

int pixy_init

(

)

Creates a connection with Pixy and listens for Pixy messages.

Returns

0 Success

PIXY_ERROR_USB_IO USB Error: I/O

PIXY_ERROR_NOT_FOUND USB Error: Pixy not found

PIXY_ERROR_USB_BUSY USB Error: Busy

PIXY_ERROR_USB_NO_DEVICE USB Error: No device

Definition at line 87 of file pixy.cpp.

int pixy_led_get_max_current

(

)

Get pixy LED maximum current.

Returns

Non-negative Maximum LED current value (microamps).

Negative Error

Definition at line 177 of file pixy.cpp.

int pixy_led_set_max_current

(

uint32_t

current

)

Set pixy LED maximum current.

Parameters

[in]

current

Maximum current (microamps).

Returns

0 Success

Negative Error

Definition at line 167 of file pixy.cpp.

int pixy_led_set_RGB	(	uint8_t	red,
		uint8_t	green,
		uint8_t	blue
	)

Set color of pixy LED.

Parameters

[in]	red	Brightness value for red LED element. [0, 255] 0 = Off, 255 = On
[in]	green	Brightness value for green LED element. [0, 255] 0 = Off, 255 = On
[in]	blue	Brightness value for blue LED element. [0, 255] 0 = Off, 255 = On

Returns

0 Success

Negative Error

Definition at line 153 of file pixy.cpp.

int pixy_rcs_get_position

(

uint8_t

channel

)

Get pixy servo axis position.

Parameters

channel

Channel value. Range: [0, 1]

Returns

Position of channel. Range: [0, 999]

Negative Error

Definition at line 332 of file pixy.cpp.

int pixy_rcs_set_frequency

(

uint16_t

frequency

)

Set pixy servo pulse width modulation (PWM) frequency.

Parameters

frequency

Range: [20, 300] Hz Default: 50 Hz

Definition at line 362 of file pixy.cpp.

int pixy_rcs_set_position	(	uint8_t	channel,
		uint16_t	position
	)

Set pixy servo axis position.

Parameters

channel	Channel value. Range: [0, 1]
position	Position value of the channel. Range: [0, 999]

Returns

0 Success

Negative Error

Definition at line 348 of file pixy.cpp.