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

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Data Structures
struct	Block

Macros
#define	PIXY_MAX_SIGNATURE 7

#define	PIXY_MIN_X 0

#define	PIXY_MAX_X 319

#define	PIXY_MIN_Y 0

#define	PIXY_MAX_Y 199

#define	PIXY_RCS_MIN_POS 0

#define	PIXY_RCS_MAX_POS 1000

#define	PIXY_RCS_CENTER_POS ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2)

#define	PIXY_BLOCKTYPE_NORMAL 0

#define	PIXY_BLOCKTYPE_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_service ()

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 PIXY_BLOCKTYPE_COLOR_CODE 1

#define PIXY_BLOCKTYPE_NORMAL 0

#define PIXY_MAX_SIGNATURE 7

#define PIXY_MAX_X 319

#define PIXY_MAX_Y 199

#define PIXY_MIN_X 0

#define PIXY_MIN_Y 0

#define PIXY_RCS_CENTER_POS ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2)

#define PIXY_RCS_MAX_POS 1000

#define PIXY_RCS_MIN_POS 0

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.

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

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

int pixy_cam_get_brightness ( )

Get pixy camera brightness.

Returns: Non-negative Brightness value.; Negative Error

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

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)

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

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

int pixy_cam_set_brightness ( uint8_t brightness )

Set pixy camera brightness.

Parameters

[in] brightness Brightness value.

Returns: 0 Success; Negative Error

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

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

void pixy_close ( )

Terminates connection with Pixy.

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

Send a command to Pixy.

Parameters

[in] name Chirp remote procedure call identifier string.

Returns: -1 Error

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void pixy_error ( int error_code )

Send description of pixy error to stdout.

Parameters

[in] error_code Pixy error code

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

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

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

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int pixy_led_get_max_current ( )

Get pixy LED maximum current.

Returns: Non-negative Maximum LED current value (microamps).; Negative Error

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

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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

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

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

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

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int pixy_service ( )

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Data Structures

Macros

Functions

Macro Definition Documentation

Function Documentation