Vision Class Reference

#include <Vision.h>

List of all members.

Public Member Functions

 Vision (__in Gyro *gyro, __in TrcPIDControl *pidControl, __in DashboardDataSender *dds)
 ~Vision (void)
void VisionInit (void)
void VisionStop (void)
void VisionTask (void)
void SetVisionEnabled (__in bool fEnable)
bool IsTargettingEnabled (void)
bool IsTargetLocked (__in float tolerance=1.0)

Detailed Description

This class defines and implements the Vision object. The vision targetting subsystem consists of a camera, a gyro as PID input and the drive system as PID output.

Constructor & Destructor Documentation

Vision::Vision ( __in Gyro *  gyro,
__in TrcPIDControl *  pidControl,
__in DashboardDataSender dds 
) [inline]

Constructor for the Vision class.

gyro Points to the gyro object as PID input.
pidControl Points to the PID control object.
dds Points to the dashboard data sender object for sending vision image to the dashboard.
Vision::~Vision ( void   )  [inline]

Destructor for the Vision class.

Member Function Documentation

bool Vision::IsTargetLocked ( __in float  tolerance = 1.0  )  [inline]

This function determines if the target is within targetting tolerance.

tolerance Specifies the angle tolerance that considered as locked.
Returns true if the target is found and dead on.
bool Vision::IsTargettingEnabled ( void   )  [inline]

This function returns the targetting enabled state.

Returns true if the targetting is enabled.
void Vision::SetVisionEnabled ( __in bool  fEnable  )  [inline]

This function enables or disables the vision targetting subsystem.

fEnable If true, it enables the vision subsystem, disables otherwise.
void Vision::VisionInit ( void   )  [inline]

This function initializes the Vision subsystem.

void Vision::VisionStop ( void   )  [inline]

This function stops the Vision subsystem.

void Vision::VisionTask ( void   )  [inline]

This function is called periodically in the robot loop to process the camera image.

The documentation for this class was generated from the following file:

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