Vision Sensor C++ API module

Vision(std::uint8_t port, vision_zero_e_t zero_point = E_VISION_ZERO_TOPLEFT)

#include <pros/vision.hpp>

Create a Vision Sensor object on the given port.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a vision sensor

Example

void opcontrol() {
  pros::Vision vision_sensor(1); // Creates a vision sensor on port one, with the zero point set to top left
}

Vision(const Device& device)

#include <pros/vision.hpp>

std::int32_t clear_led(void) const

#include <pros/vision.hpp>

Clears the vision sensor LED color, reseting it back to its default behavior, displaying the most prominent object signature color.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

void initialize() {
  pros::Vision vision_sensor(1);
  vision_sensor.clear_led();
}

static vision_signature_s_t signature_from_utility(const std::int32_t id, const std::int32_t u_min, const std::int32_t u_max, const std::int32_t u_mean, const std::int32_t v_min, const std::int32_t v_max, const std::int32_t v_mean, const float range, const std::int32_t type)

#include <pros/vision.hpp>

Creates a signature from the vision sensor utility.

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1

void opcontrol() {
pros::Vision vision_sensor(VISION_PORT);
// values acquired from the vision utility
vision_signature_s_t RED_SIG =
  vision_signature_from_utility(EXAMPLE_SIG, 8973, 11143, 10058, -2119, -1053, -1586, 5.4, 0);
vision_sensor.set_signature(EXAMPLE_SIG, &RED_SIG);
while (true) {
  vision_signature_s_t rtn = vision_sensor.get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
  // Gets the largest object of the EXAMPLE_SIG signature
  printf("sig: %d", rtn.signature);
  // Prints "sig: 1"
  delay(2);
  }
}

vision_color_code_t create_color_code(const std::uint32_t sig_id1, const std::uint32_t sig_id2, const std::uint32_t sig_id3 = 0, const std::uint32_t sig_id4 = 0, const std::uint32_t sig_id5 = 0) const

#include <pros/vision.hpp>

Creates a color code that represents a combination of the given signature IDs.

This function uses the following values of errno when an error state is reached: EINVAL - Fewer than two signatures have been provided or one of the signatures is out of its [1-7] range (or 0 when omitted).

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1
#define OTHER_SIG 2

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG);
}

static std::vector<Vision> get_all_devices()

#include <pros/vision.hpp>

Gets all vision sensors.

Example

void opcontrol() {
  std::vector<Vision> vision_all = pros::Vision::get_all_devices();  // All vision sensors that are connected
}

vision_object_s_t get_by_size(const std::uint32_t size_id) const

#include <pros/vision.hpp>

Gets the nth largest object according to size_id.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor EDOM - size_id is greater than the number of available objects. EAGAIN - Reading the vision sensor failed for an unknown reason.

Example

#define VISION_PORT 1

void opcontrol() {
pros::Vision vision_sensor(VISION_PORT);
while (true) {
  vision_object_s_t rtn = vision_sensor.get_by_size(0);
  // Gets the largest object
  printf("sig: %d", rtn.signature);
  delay(2);
  }
}

vision_object_s_t get_by_sig(const std::uint32_t size_id, const std::uint32_t sig_id) const

#include <pros/vision.hpp>

Gets the nth largest object of the given signature according to size_id.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor EDOM - size_id is greater than the number of available objects. EINVAL - sig_id is outside the range [1-8] EAGAIN - Reading the vision sensor failed for an unknown reason.

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1

void opcontrol() {
pros::Vision vision_sensor(VISION_PORT);
while (true) {
  vision_object_s_t rtn = vision_sensor.get_by_sig(0, EXAMPLE_SIG);
  // Gets the largest object of the EXAMPLE_SIG signature
  printf("sig: %d", rtn.signature);
  // Prints "sig: 1"
  delay(2);
  }
}

vision_object_s_t get_by_code(const std::uint32_t size_id, const vision_color_code_t color_code) const

#include <pros/vision.hpp>

Gets the nth largest object of the given color code according to size_id.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor EAGAIN - Reading the Vision Sensor failed for an unknown reason.

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1
#define OTHER_SIG 2

void opcontrol() {
     pros::Vision vision_sensor(VISION_PORT);
  vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG);
  while (true) {
    vision_object_s_t rtn = vision_sensor.get_by_code(0, code1);
    // Gets the largest object
    printf("sig: %d", rtn.signature);
    delay(2);
  }
}

std::int32_t get_exposure(void) const

#include <pros/vision.hpp>

Gets the exposure parameter of the Vision Sensor.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1

void initialize() {
  pros::Vision vision_sensor(VISION_PORT);
  if (vision_sensor.get_exposure() < 50)
  vision_sensor.set_exposure(50);
}

std::int32_t get_object_count(void) const

#include <pros/vision.hpp>

Gets the number of objects currently detected by the Vision Sensor.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  while (true) {
    printf("Number of Objects Detected: %d\n", vision_sensor.get_object_count());
    delay(2);
  }
}

vision_signature_s_t get_signature(const std::uint8_t signature_id) const

#include <pros/vision.hpp>

Gets the object detection signature with the given id number.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_signature_s_t sig = vision_sensor.get_signature(EXAMPLE_SIG);
  vision_sensor.print_signature(sig);
}

std::int32_t get_white_balance(void) const

#include <pros/vision.hpp>

Get the white balance parameter of the Vision Sensor.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1
#define VISION_WHITE 0xff

void initialize() {
     pros::Vision vision_sensor(VISION_PORT);
  if (vision_sensor.get_white_balance() != VISION_WHITE)
  vision_sensor.set_white_balance(VISION_WHITE);
}

std::int32_t read_by_size(const std::uint32_t size_id, const std::uint32_t object_count, vision_object_s_t*const object_arr) const

#include <pros/vision.hpp>

Reads up to object_count object descriptors into object_arr.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor EDOM - size_id is greater than the number of available objects. EAGAIN - Reading the vision sensor failed for an unknown reason.

Example

#define VISION_PORT 1
#define NUM_VISION_OBJECTS 4

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_object_s_t object_arr[NUM_VISION_OBJECTS];
  while (true) {
    vision_sensor.read_by_size(0, NUM_VISION_OBJECTS, object_arr);
    printf("sig: %d", object_arr[0].signature);
    // Prints the signature of the largest object found
    delay(2);
  }
}

std::int32_t read_by_sig(const std::uint32_t size_id, const std::uint32_t sig_id, const std::uint32_t object_count, vision_object_s_t*const object_arr) const

#include <pros/vision.hpp>

Reads up to object_count object descriptors into object_arr.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor EDOM - size_id is greater than the number of available objects. EINVAL - sig_id is outside the range [1-8] EAGAIN - Reading the vision sensor failed for an unknown reason.

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1
#define NUM_VISION_OBJECTS 4

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_object_s_t object_arr[NUM_VISION_OBJECTS];
  while (true) {
    vision_sensor.read_by_sig(0, EXAMPLE_SIG, NUM_VISION_OBJECTS, object_arr);
    printf("sig: %d", object_arr[0].signature);
    // Prints "sig: 1"
    delay(2);
  }
}

int32_t read_by_code(const std::uint32_t size_id, const vision_color_code_t color_code, const std::uint32_t object_count, vision_object_s_t*const object_arr) const

#include <pros/vision.hpp>

Reads up to object_count object descriptors into object_arr.

This function uses the following values of errno when an error state is reached: EDOM - size_id is greater than the number of available objects. ENODEV - The port cannot be configured as a vision sensor EAGAIN - Reading the vision sensor failed for an unknown reason.

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1
#define OTHER_SIG 2
#define NUM_VISION_OBJECTS 4

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_object_s_t object_arr[NUM_VISION_OBJECTS];
  vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG, 0, 0, 0);
  while (true) {
    vision_sensor.read_by_code(0, code1, NUM_VISION_OBJECTS, object_arr);
    printf("sig: %d", object_arr[0].signature);
    // Prints the signature of the largest object found
    delay(2);
  }
}

static std::int32_t print_signature(const vision_signature_s_t sig)

#include <pros/vision.hpp>

Prints the contents of the signature as an initializer list to the terminal.

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_signature_s_t sig = visionsensor.get_signature(EXAMPLE_SIG);
  vision_print_signature(sig);
}

std::int32_t set_auto_white_balance(const std::uint8_t enable) const

#include <pros/vision.hpp>

Enables/disables auto white-balancing on the Vision Sensor.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1

void initialize() {
     pros::Vision vision_sensor(VISION_PORT);
  vision_sensor.set_auto_white_balance(true);
}

std::int32_t set_exposure(const std::uint8_t exposure) const

#include <pros/vision.hpp>

Sets the exposure parameter of the Vision Sensor.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1

void initialize() {
     pros::Vision vision_sensor(VISION_PORT);
  if (vision_sensor.get_exposure() < 50)
  vision_sensor.set_exposure(50);
}

std::int32_t set_led(const std::int32_t rgb) const

#include <pros/vision.hpp>

Sets the vision sensor LED color, overriding the automatic behavior.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1

void initialize() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_sensor.set_led(COLOR_BLANCHED_ALMOND);
}

std::int32_t set_signature(const std::uint8_t signature_id, vision_signature_s_t*const signature_ptr) const

#include <pros/vision.hpp>

Stores the supplied object detection signature onto the vision sensor.

NOTE: This saves the signature in volatile memory, and the signature will be lost as soon as the sensor is powered down.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor EINVAL - sig_id is outside the range [1-8]

Example

#define VISION_PORT 1
#define EXAMPLE_SIG 1

void opcontrol() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_signature_s_t sig = vision_sensor.get_signature(EXAMPLE_SIG);
  sig.range = 10.0;
  vision_sensor.set_signature(EXAMPLE_SIG, &sig);
}

std::int32_t set_white_balance(const std::int32_t rgb) const

#include <pros/vision.hpp>

Sets the white balance parameter of the Vision Sensor.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1
#define VISION_WHITE 0xff

void initialize() {
  pros::Vision vision_sensor(VISION_PORT);
  vision_sensor.set_white_balance(VISION_WHITE);
}

std::int32_t set_zero_point(vision_zero_e_t zero_point) const

#include <pros/vision.hpp>

Sets the (0,0) coordinate for the Field of View.

This will affect the coordinates returned for each request for a vision_object_s_t from the sensor, so it is recommended that this function only be used to configure the sensor at the beginning of its use.

This function uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1

void initialize() {
     pros::Vision vision_sensor(VISION_PORT);
  vision_sensor.set_zero_point(E_VISION_ZERO_CENTER);
}

std::int32_t set_wifi_mode(const std::uint8_t enable) const

#include <pros/vision.hpp>

Sets the Wi-Fi mode of the Vision sensor.

This functions uses the following values of errno when an error state is reached: ENODEV - The port cannot be configured as a vision sensor

Example

#define VISION_PORT 1

void initialize() {
     pros::Vision vision_sensor(VISION_PORT);
  vision_sensor.set_wifi_mode(0);
}

static Vision get_vision()

#include <pros/vision.hpp>

Gets a vision sensor that is plugged in to the brain.

This functions uses the following values of errno when an error state is reached: ENODEV - No vision sensor is plugged into the brain