Struct AiVisionSensor

pub struct AiVisionSensor { /* private fields */ }

An AI Vision sensor.

Implementations

impl AiVisionSensor

pub const MAX_OBJECTS: usize = 24usize

Maximum number of objects that can be detected at once.

pub const HORIZONTAL_RESOLUTION: u16 = 320u16

The horizontal resolution of the AI Vision sensor.

pub const VERTICAL_RESOLUTION: u16 = 240u16

The vertical resolution of the AI Vision sensor.

pub const HORIZONTAL_FOV: f32 = 74f32

The horizontal FOV of the vision sensor in degrees.

pub const VERTICAL_FOV: f32 = 63f32

The vertical FOV of the vision sensor in degrees.

pub const DIAGONAL_FOV: f32 = 87f32

The diagonal FOV of the vision sensor in degrees.

pub fn new(port: SmartPort) -> Self

Create a new AI Vision sensor from a smart port with the given brightness and contrast.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    // Do something with the AI Vision sensor
}

pub fn temperature(&self) -> Result<f64, AiVisionError>

Returns the current temperature of the AI Vision sensor.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let ai_vision = AiVisionSensor::new(peripherals.port_1);
    loop {
        println!("{:?}", ai_vision.temperature());
        sleep(AiVisionSensor::UPDATE_INTERVAL).await;
    }
}

pub fn set_color_code( &mut self, id: u8, code: &AiVisionColorCode, ) -> Result<(), AiVisionError>

Sets a color code used to detect groups of colors.

Panics

• Panics if the given color code contains an ID that is not in the interval [1, 7].
• Panics if the given ID is not in the interval [1, 8].

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    let color = AiVisionColor {
        rgb: Rgb::new(255, 0, 0),
        hue: 10.0,
        saturation: 1.0,
    };
    _ = ai_vision.set_color(1, color);
    let code = AiVisionColorCode::from([1]);
    _ = ai_vision.set_color_code(1, &code);
}

pub fn color_code( &self, id: u8, ) -> Result<Option<AiVisionColorCode>, AiVisionError>

Returns the color code set on the AI Vision sensor with the given ID if it exists.

Panics

• Panics if the given ID is not in the interval [1, 8].

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    let code = AiVisionColorCode::from([1]);
    _ = ai_vision.set_color_code(1, &code);
    if let Ok(Some(code)) = ai_vision.color_code(1) {
         println!("{:?}", code);
    } else {
        println!("Something went wrong!");
    }
}

pub fn color_codes( &self, ) -> Result<[Option<AiVisionColorCode>; 8], AiVisionError>

Returns all color codes set on the AI Vision sensor.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    _ = ai_vision.set_color_code(1, &AiVisionColorCode::from([1]));
    _ = ai_vision.set_color_code(2, &AiVisionColorCode::from([1, 2]));
    println!("{:?}", ai_vision.color_codes());
}

pub fn set_color( &mut self, id: u8, color: AiVisionColor, ) -> Result<(), AiVisionError>

Sets a color signature for the AI Vision sensor.

Panics

• Panics if the given ID is not in the range [1, 7].

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    let color = AiVisionColor {
        rgb: Rgb::new(255, 0, 0),
        hue: 10.0,
        saturation: 1.0,
    };
    _ = ai_vision.set_color(1, color);
    _ = ai_vision.set_color(2, color);
}

pub fn color(&self, id: u8) -> Result<Option<AiVisionColor>, AiVisionError>

Returns the color signature set on the AI Vision sensor with the given ID if it exists.

Panics

• Panics if the given ID is not in the interval [1, 7].

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let ai_vision = AiVisionSensor::new(peripherals.port_1);
    let color = AiVisionColor {
        rgb: Rgb::new(255, 0, 0),
        hue: 10.0,
        saturation: 1.0,
    };
    _ = ai_vision.set_color(1, color);
    if let Ok(Some(color)) = ai_vision.color(1) {
        println!("{:?}", color);
    } else {
        println!("Something went wrong!");
    }
}

pub fn colors(&self) -> Result<[Option<AiVisionColor>; 7], AiVisionError>

Returns all color signatures set on the AI Vision sensor.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let ai_vision = AiVisionSensor::new(peripherals.port_1);
    let color = AiVisionColor {
        rgb: Rgb::new(255, 0, 0),
        hue: 10.0,
        saturation: 1.0,
    };
    _ = ai_vision.set_color(1, color);
    let colors = ai_vision.colors().unwrap();
    println!("{:?}", colors);
}

pub fn set_detection_mode( &mut self, mode: AiVisionDetectionMode, ) -> Result<(), AiVisionError>

Sets the detection mode of the AI Vision sensor.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    _ = ai_vision.set_detection_mode(AiVisionDetectionMode::COLOR | AiVisionDetectionMode::COLOR_MERGE);
}

pub fn flags(&self) -> Result<AiVisionFlags, AiVisionError>

Returns the current flags of the AI Vision sensor including the detection mode flags set by Self::set_detection_mode.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let ai_vision = AiVisionSensor::new(peripherals.port_1);
    println!("{:?}", ai_vision.flags());
}

pub fn set_flags(&mut self, mode: AiVisionFlags) -> Result<(), AiVisionError>

Set the full flags of the AI Vision sensor, including the detection mode.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    // Enable all detection modes except for custom model and disable USB overlay
    let flags = AiVisionFlags::DISABLE_USB_OVERLAY | AiVisionFlags::DISABLE_MODEL;
    _ = ai_vision.set_flags(flags);
}

pub fn start_awb(&mut self) -> Result<(), AiVisionError>

Restarts the automatic white balance process.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

pub fn enable_test(&mut self, test: u8) -> Result<(), AiVisionError>

Unknown Use

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

pub fn set_apriltag_family( &mut self, family: AprilTagFamily, ) -> Result<(), AiVisionError>

Sets the family of apriltag that will be detected

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    _ = ai_vision.set_apriltag_family(AprilTagFamily::Tag16h5);
}

pub fn objects(&self) -> Result<Vec<AiVisionObject>, AiVisionError>

Returns all objects detected by the AI Vision sensor.

Errors

• A PortError is returned if an AI Vision is not connected to the Smart Port.

Examples

Loop through all objects of a specific type

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    loop {
        let objects = ai_vision.objects().unwrap();
        for object in objects {
            if let AiVisionObjectData::Color { position, .. } = object.data {
                println!("{:?}", position);
            }
        }
        sleep(AiVisionSensor::UPDATE_INTERVAL).await;
    }
}

pub fn object_count(&self) -> Result<u32, AiVisionError>

Returns the number of objects currently detected by the AI Vision sensor.

Errors

• A PortError is returned if an AI Vision is not connected toMODE_MAGIC_BIT the Smart Port.

Examples

use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut ai_vision = AiVisionSensor::new(peripherals.port_1);
    loop {
        println!("AI Vision sensor currently detects {:?} objects", ai_vision.object_count());
        sleep(AiVisionSensor::UPDATE_INTERVAL).await;
    }
}

Trait Implementations

impl From<AiVisionSensor> for SmartPort

fn from(val: AiVisionSensor) -> Self

Converts to this type from the input type.

impl SmartDevice for AiVisionSensor

fn port_number(&self) -> u8

Returns the port number of the SmartPort this device is registered on.

fn device_type(&self) -> SmartDeviceType

Returns the variant of SmartDeviceType that this device is associated with.

const UPDATE_INTERVAL: Duration = _

The interval at which the V5 brain reads packets from Smart devices.

fn is_connected(&self) -> bool

Determine if this device type is currently connected to the SmartPort that it’s registered to.

fn timestamp(&self) -> Result<SmartDeviceTimestamp, PortError>

Returns the timestamp recorded by this device’s internal clock.

fn validate_port(&self) -> Result<(), PortError>

Verify that the device type is currently plugged into this port, returning an appropriate PortError if not available.

impl Send for AiVisionSensor

impl Sync for AiVisionSensor