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Data Structures | Defines | Typedefs | Functions | Variables

mindsensors-nxtcam.h File Reference

Mindsensors NXTCam driver. More...

#include "common.h"

Go to the source code of this file.

Data Structures

struct  blob

Defines

#define MAX_BLOBS   8
#define NXTCAM_I2C_ADDR   0x02
#define NXTCAM_CMD_REG   0x41
#define NXTCAM_COUNT_REG   0x42
#define NXTCAM_DATA_REG   0x43
#define SIDE_CENTER(X1, X2)   ((X1 + X2) / 2)

Typedefs

typedef blob blob_array [MAX_BLOBS]

Functions

bool NXTCAMinit (tSensors link, ubyte address=NXTCAM_I2C_ADDR)
bool NXTCAMinitTL (tSensors link, ubyte address=NXTCAM_I2C_ADDR)
int NXTCAMgetBlobs (tSensors link, blob_array &blobs, bool mergeBlobs, ubyte address=NXTCAM_I2C_ADDR)
int NXTCAMgetBlobs (tSensors link, blob_array &blobs, ubyte address=NXTCAM_I2C_ADDR)
bool _camera_cmd (tSensors link, byte cmd, ubyte address)
int _mergeBlobs (int blob1, int blob2, int nblobs, blob_array &blobs)
int _merge (int nblobs, blob_array &blobs)
void _sortBlobs (int nblobs, blob_array &blobs)
void NXTCAMgetAverageCenter (blob_array &blobs, int nblobs, int colourindex, int &x, int &y)
void NXTCAMgetCenter (blob_array &blobs, int index, int &x, int &y)

Variables

tByteArray NXTCAM_I2CRequest
tByteArray NXTCAM_I2CReply
bool still_merging = false

Detailed Description

Mindsensors NXTCam driver.

mindsensors-nxtcam.h provides an API for the Mindsensors NXTCam. This version is an extensive rewrite of Gordon Wyeth's driver. The blob information is no longer kept in seperate array, but in an array of structs.

Changelog:

License: You may use this code as you wish, provided you give credit where it's due.

THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

Author:
Xander Soldaat
Gordon Wyeth
Date:
03 Dec 2010
Version:
1.5

Definition in file mindsensors-nxtcam.h.