Mindsensors NXTCam v4, Руководство пользователя

Страница: 12 / 14

I2C Registers:
The NXTCam appears as a set of few registers as follows.
Register Read Write Comments
0x00-0x07 Software version – (Vn.nn) -
0x08-0x0f Vendor Id – mndsnsrs -
0x10-0x17 Device ID –
NXTCam
-
0x41 - Command This register is command register. A
command written here will be executed.
0x42 Number of objects detected - Shows how many objects are being tracked.
Zero indicates that there are no objects being
tracked.
0x43 1 st object color - This is the first object color as per the
sorting method selected.
0x44
1
1
st
object - X upper left Upper left X coordinate of first object
0x45 1
st
object - Y upper left Upper left Y coordinate of first object
0x46 1 st object - X lower right Lower right X coordinate of first object
0x47 2 1 st object - Y lower right Lower right Y coordinate of first object
0x48 2 nd object color
0x49-0x4C 2 nd object co-ordinates
0x4D 3 rd object color
0x4E-0x51 3 rd object co-ordinates
0x52 4 th object color
0x53-0x56 4 th object co-ordinates
0x57 5 th object color
0x58-0x5B 5 th object co-ordinates
0x5C 6
th
object color
0x5D-0x60 6
th
object co-ordinates
1
In case of line tracking mode, these are coordinates of beginning and end points of the line.
2
This repeats for all 8 objects. Please note that object position and coordinate are overwritten if new object is detected, otherwise previous value is
retained.
mindsensors.com 12/14