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discoverpixy/pixy_8h.html
Timo Lang 57aa160278 Added doxygen output of current emulator branch.
2015-05-12 11:12:43 +02:00

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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<a href="#nested-classes">Data Structures</a> &#124;
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<div class="title">pixy.h File Reference</div> </div>
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<div class="textblock"><code>#include &lt;stdint.h&gt;</code><br />
<code>#include &lt;unistd.h&gt;</code><br />
<code>#include &quot;<a class="el" href="pixydefs_8h_source.html">pixydefs.h</a>&quot;</code><br />
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Include dependency graph for pixy.h:</div>
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<p><a href="pixy_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_block.html">Block</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:ab9471c2f9186bc9b98e4c8131efd9342"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ab9471c2f9186bc9b98e4c8131efd9342">PIXY_MAX_SIGNATURE</a>&#160;&#160;&#160;7</td></tr>
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<tr class="separator:a3edb6eb461c90059cb4926395401b7c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ad269822960ad0073356dab75ce3050b3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ad269822960ad0073356dab75ce3050b3">pixy_init</a> ()</td></tr>
<tr class="memdesc:ad269822960ad0073356dab75ce3050b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a connection with Pixy and listens for Pixy messages. <a href="#ad269822960ad0073356dab75ce3050b3">More...</a><br /></td></tr>
<tr class="separator:ad269822960ad0073356dab75ce3050b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2df93fdbd04ed434d281a4b9acfa0263"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a2df93fdbd04ed434d281a4b9acfa0263">pixy_blocks_are_new</a> ()</td></tr>
<tr class="memdesc:a2df93fdbd04ed434d281a4b9acfa0263"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates when new block data from Pixy is received. <a href="#a2df93fdbd04ed434d281a4b9acfa0263">More...</a><br /></td></tr>
<tr class="separator:a2df93fdbd04ed434d281a4b9acfa0263"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4113dedad844bc189466552c75b47a0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ab4113dedad844bc189466552c75b47a0">pixy_get_blocks</a> (uint16_t max_blocks, struct <a class="el" href="struct_block.html">Block</a> *blocks)</td></tr>
<tr class="memdesc:ab4113dedad844bc189466552c75b47a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copies up to 'max_blocks' number of Blocks to the address pointed to by 'blocks'. <a href="#ab4113dedad844bc189466552c75b47a0">More...</a><br /></td></tr>
<tr class="separator:ab4113dedad844bc189466552c75b47a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72a2cd126f6a5f67842e5ff66424ccb0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a72a2cd126f6a5f67842e5ff66424ccb0">pixy_service</a> ()</td></tr>
<tr class="separator:a72a2cd126f6a5f67842e5ff66424ccb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d55779001cc649ed85be1a92f09892d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a3d55779001cc649ed85be1a92f09892d">pixy_command</a> (const char *name,...)</td></tr>
<tr class="memdesc:a3d55779001cc649ed85be1a92f09892d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send a command to Pixy. <a href="#a3d55779001cc649ed85be1a92f09892d">More...</a><br /></td></tr>
<tr class="separator:a3d55779001cc649ed85be1a92f09892d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aada09a1aeda12672050f5c3183ef6f3b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#aada09a1aeda12672050f5c3183ef6f3b">pixy_close</a> ()</td></tr>
<tr class="memdesc:aada09a1aeda12672050f5c3183ef6f3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Terminates connection with Pixy. <a href="#aada09a1aeda12672050f5c3183ef6f3b">More...</a><br /></td></tr>
<tr class="separator:aada09a1aeda12672050f5c3183ef6f3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a247afb06384e4967395a7059e0bde95d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a247afb06384e4967395a7059e0bde95d">pixy_error</a> (int error_code)</td></tr>
<tr class="memdesc:a247afb06384e4967395a7059e0bde95d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send description of pixy error to stdout. <a href="#a247afb06384e4967395a7059e0bde95d">More...</a><br /></td></tr>
<tr class="separator:a247afb06384e4967395a7059e0bde95d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28045d2cfce3a28f4c7d5e6673b4bad7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a28045d2cfce3a28f4c7d5e6673b4bad7">pixy_led_set_RGB</a> (uint8_t red, uint8_t green, uint8_t blue)</td></tr>
<tr class="memdesc:a28045d2cfce3a28f4c7d5e6673b4bad7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set color of pixy LED. <a href="#a28045d2cfce3a28f4c7d5e6673b4bad7">More...</a><br /></td></tr>
<tr class="separator:a28045d2cfce3a28f4c7d5e6673b4bad7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38582b897bb2eb5f36c6f68d2e171d05"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a38582b897bb2eb5f36c6f68d2e171d05">pixy_led_set_max_current</a> (uint32_t current)</td></tr>
<tr class="memdesc:a38582b897bb2eb5f36c6f68d2e171d05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pixy LED maximum current. <a href="#a38582b897bb2eb5f36c6f68d2e171d05">More...</a><br /></td></tr>
<tr class="separator:a38582b897bb2eb5f36c6f68d2e171d05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace7a7da527f1b01abc6355fd8945d023"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ace7a7da527f1b01abc6355fd8945d023">pixy_led_get_max_current</a> ()</td></tr>
<tr class="memdesc:ace7a7da527f1b01abc6355fd8945d023"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy LED maximum current. <a href="#ace7a7da527f1b01abc6355fd8945d023">More...</a><br /></td></tr>
<tr class="separator:ace7a7da527f1b01abc6355fd8945d023"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac46359533378c0822a463bdd5d2466d8"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ac46359533378c0822a463bdd5d2466d8">pixy_cam_set_auto_white_balance</a> (uint8_t value)</td></tr>
<tr class="memdesc:ac46359533378c0822a463bdd5d2466d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable pixy camera auto white balance. <a href="#ac46359533378c0822a463bdd5d2466d8">More...</a><br /></td></tr>
<tr class="separator:ac46359533378c0822a463bdd5d2466d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3eb84125292a5bf39f63e8a9378ba5ad"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a3eb84125292a5bf39f63e8a9378ba5ad">pixy_cam_get_auto_white_balance</a> ()</td></tr>
<tr class="memdesc:a3eb84125292a5bf39f63e8a9378ba5ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy camera auto white balance setting. <a href="#a3eb84125292a5bf39f63e8a9378ba5ad">More...</a><br /></td></tr>
<tr class="separator:a3eb84125292a5bf39f63e8a9378ba5ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c1436f86bb954d19f7c9bbb9d5e0ed1"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a8c1436f86bb954d19f7c9bbb9d5e0ed1">pixy_cam_get_white_balance_value</a> ()</td></tr>
<tr class="memdesc:a8c1436f86bb954d19f7c9bbb9d5e0ed1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy camera white balance() <a href="#a8c1436f86bb954d19f7c9bbb9d5e0ed1">More...</a><br /></td></tr>
<tr class="separator:a8c1436f86bb954d19f7c9bbb9d5e0ed1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2ec06c83cc4c8de8551e3151287c264"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ad2ec06c83cc4c8de8551e3151287c264">pixy_cam_set_white_balance_value</a> (uint8_t red, uint8_t green, uint8_t blue)</td></tr>
<tr class="memdesc:ad2ec06c83cc4c8de8551e3151287c264"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pixy camera white balance. <a href="#ad2ec06c83cc4c8de8551e3151287c264">More...</a><br /></td></tr>
<tr class="separator:ad2ec06c83cc4c8de8551e3151287c264"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2eff98f2123b2070c64e4c442c859e7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ad2eff98f2123b2070c64e4c442c859e7">pixy_cam_set_auto_exposure_compensation</a> (uint8_t enable)</td></tr>
<tr class="memdesc:ad2eff98f2123b2070c64e4c442c859e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable pixy camera auto exposure compensation. <a href="#ad2eff98f2123b2070c64e4c442c859e7">More...</a><br /></td></tr>
<tr class="separator:ad2eff98f2123b2070c64e4c442c859e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a80fe76de4eb898969b0921ce53d83a65"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a80fe76de4eb898969b0921ce53d83a65">pixy_cam_get_auto_exposure_compensation</a> ()</td></tr>
<tr class="memdesc:a80fe76de4eb898969b0921ce53d83a65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy camera auto exposure compensation setting. <a href="#a80fe76de4eb898969b0921ce53d83a65">More...</a><br /></td></tr>
<tr class="separator:a80fe76de4eb898969b0921ce53d83a65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a394e2d262e6b76690b0a9cff79b7d399"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a394e2d262e6b76690b0a9cff79b7d399">pixy_cam_set_exposure_compensation</a> (uint8_t gain, uint16_t compensation)</td></tr>
<tr class="memdesc:a394e2d262e6b76690b0a9cff79b7d399"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pixy camera exposure compensation. <a href="#a394e2d262e6b76690b0a9cff79b7d399">More...</a><br /></td></tr>
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<tr class="memitem:a1e1811707c4a8db40e0c342de51ed5f4"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a1e1811707c4a8db40e0c342de51ed5f4">pixy_cam_get_exposure_compensation</a> (uint8_t *gain, uint16_t *compensation)</td></tr>
<tr class="memdesc:a1e1811707c4a8db40e0c342de51ed5f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy camera exposure compensation. <a href="#a1e1811707c4a8db40e0c342de51ed5f4">More...</a><br /></td></tr>
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<tr class="memitem:a4abc74c8533b17d9e2aa6dfbf4c6a5e1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a4abc74c8533b17d9e2aa6dfbf4c6a5e1">pixy_cam_set_brightness</a> (uint8_t brightness)</td></tr>
<tr class="memdesc:a4abc74c8533b17d9e2aa6dfbf4c6a5e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pixy camera brightness. <a href="#a4abc74c8533b17d9e2aa6dfbf4c6a5e1">More...</a><br /></td></tr>
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<tr class="memitem:a9fda296a7a69f42625faf2e675b762ae"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a9fda296a7a69f42625faf2e675b762ae">pixy_cam_get_brightness</a> ()</td></tr>
<tr class="memdesc:a9fda296a7a69f42625faf2e675b762ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy camera brightness. <a href="#a9fda296a7a69f42625faf2e675b762ae">More...</a><br /></td></tr>
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<tr class="memitem:ad8ff0e513bae5acec82c6a7e0e21685f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#ad8ff0e513bae5acec82c6a7e0e21685f">pixy_rcs_get_position</a> (uint8_t channel)</td></tr>
<tr class="memdesc:ad8ff0e513bae5acec82c6a7e0e21685f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy servo axis position. <a href="#ad8ff0e513bae5acec82c6a7e0e21685f">More...</a><br /></td></tr>
<tr class="separator:ad8ff0e513bae5acec82c6a7e0e21685f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5fb9213a5459dc6c74131ecabd6b5995"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a5fb9213a5459dc6c74131ecabd6b5995">pixy_rcs_set_position</a> (uint8_t channel, uint16_t position)</td></tr>
<tr class="memdesc:a5fb9213a5459dc6c74131ecabd6b5995"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pixy servo axis position. <a href="#a5fb9213a5459dc6c74131ecabd6b5995">More...</a><br /></td></tr>
<tr class="separator:a5fb9213a5459dc6c74131ecabd6b5995"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45bb277d2ea7110def16186468e571f9"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a45bb277d2ea7110def16186468e571f9">pixy_rcs_set_frequency</a> (uint16_t frequency)</td></tr>
<tr class="memdesc:a45bb277d2ea7110def16186468e571f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pixy servo pulse width modulation (PWM) frequency. <a href="#a45bb277d2ea7110def16186468e571f9">More...</a><br /></td></tr>
<tr class="separator:a45bb277d2ea7110def16186468e571f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ca61cb465cf6dc72fcae79b0c08e810"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="pixy_8h.html#a8ca61cb465cf6dc72fcae79b0c08e810">pixy_get_firmware_version</a> (uint16_t *major, uint16_t *minor, uint16_t *build)</td></tr>
<tr class="memdesc:a8ca61cb465cf6dc72fcae79b0c08e810"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get pixy firmware version. <a href="#a8ca61cb465cf6dc72fcae79b0c08e810">More...</a><br /></td></tr>
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<h2 class="groupheader">Macro Definition Documentation</h2>
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<td class="memname">#define PIXY_BLOCKTYPE_COLOR_CODE&#160;&#160;&#160;1</td>
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<td class="memname">#define PIXY_BLOCKTYPE_NORMAL&#160;&#160;&#160;0</td>
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<td class="memname">#define PIXY_MAX_SIGNATURE&#160;&#160;&#160;7</td>
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<td class="memname">#define PIXY_MAX_X&#160;&#160;&#160;319</td>
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<td class="memname">#define PIXY_MAX_Y&#160;&#160;&#160;199</td>
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<td class="memname">#define PIXY_MIN_X&#160;&#160;&#160;0</td>
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<td class="memname">#define PIXY_MIN_Y&#160;&#160;&#160;0</td>
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<td class="memname">#define PIXY_RCS_CENTER_POS&#160;&#160;&#160;((<a class="el" href="pixy_8h.html#a2336b04d0e7669f8491241a455653af8">PIXY_RCS_MAX_POS</a>-<a class="el" href="pixy_8h.html#a5361e5e4628b4f8577d2febafc4da088">PIXY_RCS_MIN_POS</a>)/2)</td>
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<td class="memname">#define PIXY_RCS_MAX_POS&#160;&#160;&#160;1000</td>
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<td class="memname">#define PIXY_RCS_MIN_POS&#160;&#160;&#160;0</td>
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<h2 class="groupheader">Function Documentation</h2>
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<td class="memname">int pixy_blocks_are_new </td>
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<p>Indicates when new block data from Pixy is received. </p>
<dl class="section return"><dt>Returns</dt><dd>1 New Data: <a class="el" href="struct_block.html">Block</a> data has been updated. </dd>
<dd>
0 Stale Data: <a class="el" href="struct_block.html">Block</a> data has not changed since <a class="el" href="pixy_8h.html#ab4113dedad844bc189466552c75b47a0" title="Copies up to &#39;max_blocks&#39; number of Blocks to the address pointed to by &#39;blocks&#39;. ...">pixy_get_blocks()</a> was last called. </dd></dl>
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<td class="memname">int pixy_cam_get_auto_exposure_compensation </td>
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<td class="paramname"></td><td>)</td>
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<p>Get pixy camera auto exposure compensation setting. </p>
<dl class="section return"><dt>Returns</dt><dd>1 Auto exposure compensation enabled. </dd>
<dd>
0 Auto exposure compensation disabled. </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_cam_get_auto_white_balance </td>
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<td class="paramname"></td><td>)</td>
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<p>Get pixy camera auto white balance setting. </p>
<dl class="section return"><dt>Returns</dt><dd>1 Auto white balance is enabled. </dd>
<dd>
0 Auto white balance is disabled. </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_cam_get_brightness </td>
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<td class="paramname"></td><td>)</td>
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<p>Get pixy camera brightness. </p>
<dl class="section return"><dt>Returns</dt><dd>Non-negative Brightness value. </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_cam_get_exposure_compensation </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>gain</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t *&#160;</td>
<td class="paramname"><em>compensation</em>&#160;</td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Get pixy camera exposure compensation. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">gain</td><td>Camera gain. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">comp</td><td>Camera exposure compensation. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">uint32_t pixy_cam_get_white_balance_value </td>
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<td class="paramname"></td><td>)</td>
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<p>Get pixy camera white balance() </p>
<dl class="section return"><dt>Returns</dt><dd>Composite value for RGB white balance: white balance = green_value + (red_value &lt;&lt; 8) + (blue &lt;&lt; 16) </dd></dl>
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<td class="memname">int pixy_cam_set_auto_exposure_compensation </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>enable</em></td><td>)</td>
<td></td>
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<p>Enable or disable pixy camera auto exposure compensation. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">enable</td><td>0: Disable auto exposure compensation. 1: Enable auto exposure compensation. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_cam_set_auto_white_balance </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>value</em></td><td>)</td>
<td></td>
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<p>Enable or disable pixy camera auto white balance. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">enable</td><td>1: Enable white balance. 0: Disable white balance. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_cam_set_brightness </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>brightness</em></td><td>)</td>
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<p>Set pixy camera brightness. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">brightness</td><td>Brightness value. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_cam_set_exposure_compensation </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>gain</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>compensation</em>&#160;</td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Set pixy camera exposure compensation. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">gain</td><td>Camera gain. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">comp</td><td>Camera exposure compensation. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_cam_set_white_balance_value </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>red</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>green</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>blue</em>&#160;</td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Set pixy camera white balance. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">red</td><td>Red white balance value. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">green</td><td>Green white balance value. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">blue</td><td>Blue white balance value. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">void pixy_close </td>
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<p>Terminates connection with Pixy. </p>
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<td class="memname">int pixy_command </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>name</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">&#160;</td>
<td class="paramname"><em>...</em>&#160;</td>
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<td>)</td>
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<p>Send a command to Pixy. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">name</td><td>Chirp remote procedure call identifier string. </td></tr>
</table>
</dd>
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<dl class="section return"><dt>Returns</dt><dd>-1 Error </dd></dl>
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<td class="memname">void pixy_error </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>error_code</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Send description of pixy error to stdout. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">error_code</td><td>Pixy error code </td></tr>
</table>
</dd>
</dl>
</div>
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<td class="memname">int pixy_get_blocks </td>
<td>(</td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>max_blocks</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">struct <a class="el" href="struct_block.html">Block</a> *&#160;</td>
<td class="paramname"><em>blocks</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Copies up to 'max_blocks' number of Blocks to the address pointed to by 'blocks'. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">max_blocks</td><td>Maximum number of Blocks to copy to the address pointed to by 'blocks'. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">blocks</td><td>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. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Non-negative Success: Number of blocks copied </dd>
<dd>
PIXY_ERROR_USB_IO USB Error: I/O </dd>
<dd>
PIXY_ERROR_NOT_FOUND USB Error: Pixy not found </dd>
<dd>
PIXY_ERROR_USB_BUSY USB Error: Busy </dd>
<dd>
PIXY_ERROR_USB_NO_DEVICE USB Error: No device </dd>
<dd>
PIXY_ERROR_INVALID_PARAMETER Invalid pararmeter specified </dd></dl>
</div>
</div>
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<td class="memname">int pixy_get_firmware_version </td>
<td>(</td>
<td class="paramtype">uint16_t *&#160;</td>
<td class="paramname"><em>major</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t *&#160;</td>
<td class="paramname"><em>minor</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t *&#160;</td>
<td class="paramname"><em>build</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Get pixy firmware version. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">major</td><td>Major version component </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">minor</td><td>Minor version component </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">build</td><td>Build identifier </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
</div>
</div>
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<td class="memname">int pixy_init </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Creates a connection with Pixy and listens for Pixy messages. </p>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
PIXY_ERROR_USB_IO USB Error: I/O </dd>
<dd>
PIXY_ERROR_NOT_FOUND USB Error: Pixy not found </dd>
<dd>
PIXY_ERROR_USB_BUSY USB Error: Busy </dd>
<dd>
PIXY_ERROR_USB_NO_DEVICE USB Error: No device </dd></dl>
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<td class="memname">int pixy_led_get_max_current </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Get pixy LED maximum current. </p>
<dl class="section return"><dt>Returns</dt><dd>Non-negative Maximum LED current value (microamps). </dd>
<dd>
Negative Error </dd></dl>
</div>
</div>
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<td class="memname">int pixy_led_set_max_current </td>
<td>(</td>
<td class="paramtype">uint32_t&#160;</td>
<td class="paramname"><em>current</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Set pixy LED maximum current. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">current</td><td>Maximum current (microamps). </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_led_set_RGB </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>red</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>green</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>blue</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Set color of pixy LED. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">red</td><td>Brightness value for red LED element. [0, 255] 0 = Off, 255 = On </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">green</td><td>Brightness value for green LED element. [0, 255] 0 = Off, 255 = On </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">blue</td><td>Brightness value for blue LED element. [0, 255] 0 = Off, 255 = On </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
</div>
</div>
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<td class="memname">int pixy_rcs_get_position </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>channel</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Get pixy servo axis position. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">channel</td><td>Channel value. Range: [0, 1] </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Position of channel. Range: [0, 999] </dd>
<dd>
Negative Error </dd></dl>
</div>
</div>
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<td class="memname">int pixy_rcs_set_frequency </td>
<td>(</td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>frequency</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Set pixy servo pulse width modulation (PWM) frequency. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">frequency</td><td>Range: [20, 300] Hz Default: 50 Hz </td></tr>
</table>
</dd>
</dl>
</div>
</div>
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<td class="memname">int pixy_rcs_set_position </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>channel</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>position</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Set pixy servo axis position. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">channel</td><td>Channel value. Range: [0, 1] </td></tr>
<tr><td class="paramname">position</td><td>Position value of the channel. Range: [0, 999] </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>0 Success </dd>
<dd>
Negative Error </dd></dl>
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<td class="memname">int pixy_service </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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