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

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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:

• 1.0: Partial rewrite of original driver, using structs instead of arrays to hold blob info
• 1.1: Further rewrite to use common.h functions to further align with standard driver framework
• 1.2: Added NXTCAMgetCenter() to calculate the center of a single blob
• 1.3: Added NXTCAMinitTL() to enable line tracking mode
  Fixed bug in NXTCAMinit() that did not configure object tracking properly
  Added extra wait times after each issued command in init functions
• 1.4: Removed printDebugLine from driver
• 1.5: Added ability to specify I2C address with optional argument. Defaults to 0x02 when not specified.

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.