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Adding Functions Used in Line Following #5

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Merged
PseudoResonance merged 2 commits into from
Feb 22, 2019
Merged

Adding Functions Used in Line Following #5

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1683cbf
Adding Functions Used in Line Following
jaredbro Feb 16, 2019
66ecb50
Fixing incorrect spacing
jaredbro Feb 16, 2019
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14 changes: 14 additions & 0 deletions src/main/java/io/github/pseudoresonance/pixy2api/Pixy2.java
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Original file line number Diff line number Diff line change
Expand Up @@ -311,6 +311,20 @@ public String getFirmwareTypeString() {
}
}

/**
* Get width of the pixy's visual frame after it is calcualted during init
*/
public int getFrameWidth() {
return frameWidth;
}

/**
* Get height of the pixy's visual frame after it is calcualted during inits
*/
public int getFrameHeight() {
return frameHeight;
}

/**
* Synchronizes communication with Pixy2
*
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10 changes: 10 additions & 0 deletions src/main/java/io/github/pseudoresonance/pixy2api/Pixy2Line.java
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,16 @@ public byte getAllFeatures() {
return getFeatures(LINE_GET_ALL_FEATURES, LINE_ALL_FEATURES, true);
}

/**
* Gets the main features from the Pixy2. This is a more constrained line tracking algorithm.
*
* @return Pixy2 error code
*/
public byte getMainFeatures()
{
return getFeatures(LINE_GET_MAIN_FEATURES, LINE_ALL_FEATURES, true);
}

/**
* Gets specified features from Pixy2
*
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