Table of Contents

Line Tracking - Packet Reference

Check out the Line tracking API for more details.

getMainFeatures(features, wait)

Request:

Bit Description Value(s)
0 - 1 16-bit sync 174, 193 (0xc1ae)
2 Type of packet 48
3 Length of payload 2
4 Request type 0=main features, 1=all features
5 Features (bitmap) 7=vectors, intersections, barcodes

Response:

Byte Description Value(s)
0 - 1 16-bit sync 175, 193 (0xc1af)
2 Type of packet 49
3 Length of payload (varies)
4 - 5 16-bit checksum sum of payload bytes
6 Feature-type 1=Vector, 2=Intersection, 4=Barcode
7 Feature-length (varies)
8 - 8+feature-length Feature-data (varies)
Next feature-type (optional) (varies)
Next feature-length (optional) (varies)
Next feature-data (optinal) (varies)
Next feature-type (optional) (varies)
Next feature-length (optional) (varies)
Next feature-data (optinal) (varies)

Note, this response can have up to three different feature sections, one for vectors (if vector(s) exist), one for intersections (if intersection(s) exist) and one for barcodes (if barcode(s) exist) in the image. Each feature section begins with a feature-type. The feature-length is next, which indicates how many bytes are in the feature-data. The feature-data is last, which has the data associated with the feature. Sometimes the feature-data section will have more than one of the given feature type, for example, there may be three barcodes, in which case the three barcodes will be concatenated in the feature-data without any bytes between them.

For the specific feature data types and composition, please consult the Pixy2Line.h file.

setMode(mode)

Request:

Bit Description Value(s)
0 - 1 16-bit sync 174, 193 (0xc1ae)
2 Type of packet 54
3 Length of payload 1
4 Mode (varies)

Response:

Byte Description Value(s)
0 - 1 16-bit sync 175, 193 (0xc1af)
2 Type of packet 1
3 Length of payload 4
4 - 5 16-bit checksum sum of payload bytes
6 - 9 Response/acknowledge (varies)

setNextTurn(angle)

Request:

Bit Description Value(s)
0 - 1 16-bit sync 174, 193 (0xc1ae)
2 Type of packet 58
3 Length of payload 2
4 - 5 16-bit angle (varies)

Response:

Byte Description Value(s)
0 - 1 16-bit sync 175, 193 (0xc1af)
2 Type of packet 1
3 Length of payload 4
4 - 5 16-bit checksum sum of payload bytes
6 - 9 Response/acknowledge (varies)

setDefaultTurn(angle)

Request:

Bit Description Value(s)
0 - 1 16-bit sync 174, 193 (0xc1ae)
2 Type of packet 60
3 Length of payload 2
4 - 5 16-bit angle (varies)

Response:

Byte Description Value(s)
0 - 1 16-bit sync 175, 193 (0xc1af)
2 Type of packet 1
3 Length of payload 4
4 - 5 16-bit checksum sum of payload bytes
6 - 9 Response/acknowledge (varies)

setVector(angle)

Request:

Bit Description Value(s)
0 - 1 16-bit sync 174, 193 (0xc1ae)
2 Type of packet 56
3 Length of payload 1
4 vector index (varies)

Response:

Byte Description Value(s)
0 - 1 16-bit sync 175, 193 (0xc1af)
2 Type of packet 1
3 Length of payload 4
4 - 5 16-bit checksum sum of payload bytes
6 - 9 Response/acknowledge (varies)

reverseVector(angle)

Request:

Bit Description Value(s)
0 - 1 16-bit sync 174, 193 (0xc1ae)
2 Type of packet 62
3 Length of payload 0

Response:

Byte Description Value(s)
0 - 1 16-bit sync 175, 193 (0xc1af)
2 Type of packet 1
3 Length of payload 4
4 - 5 16-bit checksum sum of payload bytes
6 - 9 Response/acknowledge (varies)