Struct VisionCode

pub struct VisionCode(pub u8, pub u8, pub Option<u8>, pub Option<u8>, pub Option<u8>);

A vision detection code.

Codes are a special type of detection signature that group multiple VisionSignatures together. A VisionCode can associate 2-5 color signatures together, detecting the resulting object when its color signatures are present close to each other.

These codes work very similarly to Pixy2 Color Codes.

Tuple Fields

0: u8

1: u8

2: Option<u8>

3: Option<u8>

4: Option<u8>

Implementations

impl VisionCode

pub const fn new( sig_1: u8, sig_2: u8, sig_3: Option<u8>, sig_4: Option<u8>, sig_5: Option<u8>, ) -> Self

Creates a new vision code.

Two signatures are required to create a vision code, with an additional three optional signatures.

Examples

use vexide::devices::smart::vision::VisionCode;

// Create a vision code associated with signatures 1, 2, and 3.
let code = VisionCode::new(1, 2, Some(3), None, None);

pub const fn from_id(id: u16) -> Self

Creates a VisionCode from a bit representation of its signature IDs.

Examples

use vexide::devices::smart::vision::VisionCode;

let sig_1_id = 1;
let sig_2_id = 2;

let mut code_id: u16 = 0;

// Store the bits of IDs 1 and 2 in the code ID.
code_id = (code_id << 3) | u16::from(sig_1_id);
code_id = (code_id << 3) | u16::from(sig_2_id);

// Create a [`VisionCode`] from signatures 1 and 2.
let code = VisionCode::from_id(code_id);

pub const fn contains_signature(&self, id: u8) -> bool

Returns true if a given signature ID is stored in this code.

Examples

use vexide::devices::smart::vision::VisionCode;

// Create a vision code associated with signatures 1, 2, and 3.
let code = VisionCode::new(1, 2, Some(3), None, None);

assert!(code.contains_signature(1));

pub fn id(&self) -> u16

Returns the internal ID used by the sensor to determine which signatures belong to which code.

Examples

use vexide::devices::smart::vision::VisionCode;

let sig_1_id = 1;
let sig_2_id = 2;

let mut code_id: u16 = 0;

// Store the bits of IDs 1 and 2 in the code ID.
code_id = (code_id << 3) | u16::from(sig_1_id);
code_id = (code_id << 3) | u16::from(sig_2_id);

// Create a [`VisionCode`] from signatures 1 and 2.
let code = VisionCode::from_id(code_id);

// The ID of the code we just created should be identical to the bit representation
// containing each signature ID we created it from.
assert_eq!(code.id(), code_id);

Trait Implementations

impl Clone for VisionCode

fn clone(&self) -> VisionCode

Returns a duplicate of the value.

const fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for VisionCode

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl From<(u8, u8)> for VisionCode

fn from(signatures: (u8, u8)) -> Self

Convert a tuple of two VisionSignatures into a VisionCode.

impl From<(u8, u8, u8)> for VisionCode

fn from(signatures: (u8, u8, u8)) -> Self

Convert a tuple of three VisionSignatures into a VisionCode.

impl From<(u8, u8, u8, u8)> for VisionCode

fn from(signatures: (u8, u8, u8, u8)) -> Self

Convert a tuple of four VisionSignatures into a VisionCode.

impl From<(u8, u8, u8, u8, u8)> for VisionCode

fn from(signatures: (u8, u8, u8, u8, u8)) -> Self

Convert a tuple of five VisionSignatures into a VisionCode.

impl PartialEq for VisionCode

fn eq(&self, other: &VisionCode) -> bool

Tests for self and other values to be equal, and is used by ==.

const fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for VisionCode

impl Eq for VisionCode

impl StructuralPartialEq for VisionCode