Use this class when programming the vision sensor. More...

Inherits vex::device.

Classes
class	code
	Use this class when programming the vision sensor. More...

class	object
	The object class represents an object that the vision sensor detects. More...

class	signature
	Use this class when programming the vision sensor. More...

Public Types
enum	detectionMode { detectionMode::objectDetect = kVisionModeNormal, detectionMode::mixedDetect = kVisionModeMixed, detectionMode::lineDetect = kVisionModeLineDetect, detectionMode::test = kVisionTypeTest }

enum	whiteBalanceMode { whiteBalanceMode::automatic = kVisionWBNormal, whiteBalanceMode::start = kVisionWBStart, whiteBalanceMode::manual = kVisionWBManual }

enum	ledMode { ledMode::automatic = kVisionLedModeAuto, ledMode::manual = kVisionLedModeManual }

enum	wifiMode { wifiMode::off = kVisionWifiModeOff, wifiMode::on = kVisionWifiModeOn }

Public Member Functions
	vision (int32_t index)
	Creates a new vision object on the port specified. More...

	~vision ()

template<typename... Args>
	vision (int32_t index, uint8_t bright, Args... sigs)
	Creates a new vision object on the port specified. Sets the brightness setting and all of the vision objects settings. More...

bool	installed ()

int32_t	value ()

int32_t	takeSnapshot (uint32_t id)
	Takes a data sample from the vision sensor. More...

int32_t	takeSnapshot (code &cc)
	Takes a data sample from the vision sensor. More...

int32_t	takeSnapshot (signature &sig)
	Takes a data sample from the vision sensor. More...

int32_t	takeSnapshot (uint32_t id, uint32_t count)
	Takes a data sample from the vision sensor, and only stores the largest samples of the specified amount. More...

int32_t	takeSnapshot (code &cc, uint32_t count)
	Takes a data sample from the vision sensor, and only stores the largest samples of the specified amount. More...

int32_t	takeSnapshot (signature &sig, uint32_t count)
	Takes a data sample from the vision sensor, and only stores the largest samples of the specified amount. More...

bool	setSignature (V5_DeviceVisionSignature *pSignature)

bool	getSignature (uint32_t id, V5_DeviceVisionSignature *pSignature)

bool	setSignature (signature &sig)

bool	getSignature (uint32_t id, signature &sig)

bool	setMode (detectionMode mode)

detectionMode	getMode (void)

bool	setBrightness (uint8_t value)

uint8_t	getBrightness (void)

bool	setWhiteBalanceMode (whiteBalanceMode mode)

whiteBalanceMode	getWhiteBalanceMode (void)

bool	setWhiteBalanceValues (uint8_t red, uint8_t green, uint8_t blue)

bool	getWhiteBalanceValues (uint8_t red, uint8_t green, uint8_t *blue)

bool	setLedMode (ledMode mode)
	Changes the mode of the LED on the vision sensor. More...

ledMode	getLedMode (void)
	Gets the mode of the LED from the vision sensor. More...

bool	setLedBrightness (uint8_t percent)
	Changes the brightness of the LED on the vision sensor when LED is set to manual mode. More...

uint8_t	getLedBrightness (void)
	Gets the brightness of the LED from the vision sensor. More...

bool	setLedColor (uint8_t red, uint8_t green, uint8_t blue)
	Changes the color of the LED on the vision sensor when LED is set to manual mode. More...

bool	getLedColor (uint8_t red, uint8_t green, uint8_t *blue)
	Gets the color of the LED from the vision sensor. More...

bool	setWifiMode (wifiMode mode)

wifiMode	getWifiMode (void)

Public Member Functions inherited from vex::device
	device ()

	device (int32_t index)

	~device ()

V5_DeviceType	type ()

void	init (int32_t index)

Public Attributes
int32_t	objectCount
	The ammount of objects found in the data sample. More...

object	largestObject
	The largest object found in the data sample. More...

safearray< object, VISION_MAX_OBJECTS >	objects
	An array containing the largest object(s) found in the data sample. More...

Additional Inherited Members
Protected Attributes inherited from vex::device
int32_t	_index

Detailed Description

Use this class when programming the vision sensor.

The vision sensor has a resolution of 316x212 pixels

Member Enumeration Documentation

◆ detectionMode

enum vex::vision::detectionMode

strong

Enumerator
objectDetect
mixedDetect
lineDetect
test

◆ whiteBalanceMode

enum vex::vision::whiteBalanceMode

strong

Enumerator
automatic
start
manual

◆ ledMode

enum vex::vision::ledMode

strong

Enumerator
automatic
manual

◆ wifiMode

enum vex::vision::wifiMode

strong

Enumerator
off
on

Constructor & Destructor Documentation

◆ vision() [1/2]

vex::vision::vision ( int32_t index )

Creates a new vision object on the port specified.

Parameters

index The port index for this vision. The index is zero-based.

◆ ~vision()

vex::vision::~vision ( )

◆ vision() [2/2]

template<typename... Args>

vex::vision::vision	(	int32_t	index,
		uint8_t	bright,
		Args...	sigs
	)

inline

Creates a new vision object on the port specified. Sets the brightness setting and all of the vision objects settings.

Parameters

index	The port index for this vision. The index is zero-based.
bright	The vision sensor brightness setting. Values are 0 to 255
sigs	List of signature objects used to setup the detection signatures for this sensor.

Member Function Documentation

◆ installed()

bool vex::vision::installed ( )

virtual

Reimplemented from vex::device.

◆ value()

int32_t vex::vision::value ( )

virtual

Reimplemented from vex::device.

◆ takeSnapshot() [1/6]

int32_t vex::vision::takeSnapshot ( uint32_t id )

Takes a data sample from the vision sensor.

Returns: Returns the number of objects found from the ID passed in the parameter.

Parameters

id	The ID of the object to look for.

◆ takeSnapshot() [2/6]

int32_t vex::vision::takeSnapshot ( code & cc )

Takes a data sample from the vision sensor.

Returns: Returns the number of objects found from the code signature passed in the parameter.

Parameters

cc	The code signature of the object to look for.

◆ takeSnapshot() [3/6]

int32_t vex::vision::takeSnapshot ( signature & sig )

Takes a data sample from the vision sensor.

Returns: Returns a number of objects found from the signature passed in the parameter.

Parameters

sig	The signature of the object to look for.

◆ takeSnapshot() [4/6]

int32_t vex::vision::takeSnapshot	(	uint32_t	id,
		uint32_t	count
	)

Takes a data sample from the vision sensor, and only stores the largest samples of the specified amount.

Returns: Returns a limited number of objects found from the ID passed in the parameter.

Parameters

id	The ID of the object to look for.
count	the amount of objects to look for. The largest of the object will be returned.

◆ takeSnapshot() [5/6]

int32_t vex::vision::takeSnapshot	(	code &	cc,
		uint32_t	count
	)

Takes a data sample from the vision sensor, and only stores the largest samples of the specified amount.

Returns: Returns a limited number of objects found from the code signature passed in the parameter.

Parameters

cc	The code signature of the object to look for.
count	the amount of objects to look for. The largest of the object will be returned.

◆ takeSnapshot() [6/6]

int32_t vex::vision::takeSnapshot	(	signature &	sig,
		uint32_t	count
	)

Takes a data sample from the vision sensor, and only stores the largest samples of the specified amount.

Returns: Returns a limited number of objects found from the signature passed in the parameter.

Parameters

sig	The signature of the object to look for.
count	the amount of objects to look for. The largest of the object will be returned.

◆ setSignature() [1/2]

bool vex::vision::setSignature ( V5_DeviceVisionSignature * pSignature )

◆ getSignature() [1/2]

bool vex::vision::getSignature	(	uint32_t	id,
		V5_DeviceVisionSignature *	pSignature
	)

◆ setSignature() [2/2]

bool vex::vision::setSignature ( signature & sig )

◆ getSignature() [2/2]

bool vex::vision::getSignature	(	uint32_t	id,
		signature &	sig
	)

◆ setMode()

bool vex::vision::setMode ( detectionMode mode )

◆ getMode()

detectionMode vex::vision::getMode ( void )

◆ setBrightness()

bool vex::vision::setBrightness ( uint8_t value )

◆ getBrightness()

uint8_t vex::vision::getBrightness ( void )

◆ setWhiteBalanceMode()

bool vex::vision::setWhiteBalanceMode ( whiteBalanceMode mode )

◆ getWhiteBalanceMode()

whiteBalanceMode vex::vision::getWhiteBalanceMode ( void )

◆ setWhiteBalanceValues()

bool vex::vision::setWhiteBalanceValues	(	uint8_t	red,
		uint8_t	green,
		uint8_t	blue
	)

◆ getWhiteBalanceValues()

bool vex::vision::getWhiteBalanceValues	(	uint8_t *	red,
		uint8_t *	green,
		uint8_t *	blue
	)

◆ setLedMode()

bool vex::vision::setLedMode ( ledMode mode )

Changes the mode of the LED on the vision sensor.

Parameters

mode	The LED mode. Automatic mode will cause the LED color to be controlled by the vision sensor firmware. Manual mode allows the LED color to be controlled by the user program.

Returns: Returns true if setting was successfully saved.

◆ getLedMode()

ledMode vex::vision::getLedMode ( void )

Gets the mode of the LED from the vision sensor.

Returns: Returns a tLedMode that represents the current mode of the vision sensor LED.

◆ setLedBrightness()

bool vex::vision::setLedBrightness ( uint8_t percent )

Changes the brightness of the LED on the vision sensor when LED is set to manual mode.

Parameters

percent A percentage of total brightness of the vision sensor LED when in manual mode. Values are 0 to 100. 0 = LED off

Returns: Returns true if setting was successfully saved.

◆ getLedBrightness()

uint8_t vex::vision::getLedBrightness ( void )

Gets the brightness of the LED from the vision sensor.

Returns: Returns a value between 0 and 100 that represents the current brightness of the vision sensor LED.

◆ setLedColor()

bool vex::vision::setLedColor	(	uint8_t	red,
		uint8_t	green,
		uint8_t	blue
	)

Changes the color of the LED on the vision sensor when LED is set to manual mode.

Parameters

red	A value from 0 to 255 the represents the intensity of the red color of the LED.
green	A value from 0 to 255 the represents the intensity of the green color of the LED.
blue	A value from 0 to 255 the represents the intensity of the blue color of the LED.

Returns: Returns true if setting was successfully saved.

◆ getLedColor()

bool vex::vision::getLedColor	(	uint8_t *	red,
		uint8_t *	green,
		uint8_t *	blue
	)

Gets the color of the LED from the vision sensor.

Parameters

red	A reference to a value to store the intensity of the red color of the LED.
green	A reference to a value to store the intensity of the green color of the LED.
blue	A reference to a value to store the intensity of the blue color of the LED.

Returns: Returns true if values were sucessfully recived.

◆ setWifiMode()

bool vex::vision::setWifiMode ( wifiMode mode )

◆ getWifiMode()

wifiMode vex::vision::getWifiMode ( void )

Member Data Documentation

◆ objectCount

int32_t vex::vision::objectCount

The ammount of objects found in the data sample.

◆ largestObject

object vex::vision::largestObject

The largest object found in the data sample.

◆ objects

safearray< object, VISION_MAX_OBJECTS > vex::vision::objects

An array containing the largest object(s) found in the data sample.

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ detectionMode

◆ whiteBalanceMode

◆ ledMode

◆ wifiMode

Constructor & Destructor Documentation

◆ vision() [1/2]

◆ ~vision()

◆ vision() [2/2]

Member Function Documentation

◆ installed()

◆ value()

◆ takeSnapshot() [1/6]

◆ takeSnapshot() [2/6]

◆ takeSnapshot() [3/6]

◆ takeSnapshot() [4/6]

◆ takeSnapshot() [5/6]

◆ takeSnapshot() [6/6]

◆ setSignature() [1/2]

◆ getSignature() [1/2]

◆ setSignature() [2/2]

◆ getSignature() [2/2]

◆ setMode()

◆ getMode()

◆ setBrightness()

◆ getBrightness()

◆ setWhiteBalanceMode()

◆ getWhiteBalanceMode()

◆ setWhiteBalanceValues()

◆ getWhiteBalanceValues()

◆ setLedMode()

◆ getLedMode()

◆ setLedBrightness()

◆ getLedBrightness()

◆ setLedColor()

◆ getLedColor()

◆ setWifiMode()

◆ getWifiMode()

Member Data Documentation

◆ objectCount

◆ largestObject

◆ objects