ball_tracking.h File Reference

Simple tracking Roborodentia objects of interest by color. More...

#include <stdint.h>
#include <stdbool.h>

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Macros
#define	LOOK_RIGHT   1
#define	LOOK_LEFT   -1
#define	LOOK_UP   0
#define	MX_NDX   0
#define	MY_NDX   1
#define	X1_NDX   2
#define	Y1_NDX   3
#define	X2_NDX   4
#define	Y2_NDX   5
#define	PIXEL_CNT_NDX   6
#define	CONFIDENCE_NDX   7
#define	NUM_COLOR_STATS   8
#define	PAN_SEEK_OFFSET   66

Functions
void	trackColorInit (int8_t dir)
uint8_t	getBallY (void)
bool	seeBall (void)
bool	cameraSeekLeft (uint8_t uncheckedBalls[][2], uint8_t numUncheckedBalls)
bool	cameraSeekRight (uint8_t uncheckedBalls[][2], uint8_t numUncheckedBalls)

Variables
volatile bool	colorStatsProcessed
bool	inSeekPosition

Detailed Description

Simple tracking Roborodentia objects of interest by color.

Uses the CMUcam2 color blob tracking to:

• Identify ball and estimate distance from robot
• Identify nest

Definition in file ball_tracking.h.