java.lang.Object
- io.github.pseudoresonance.pixy2api.Pixy2

```
public class Pixy2
extends java.lang.Object
```
Java Port of Pixy2 Arduino Library Interfaces with the Pixy2 over any provided, compatible link https://github.com/PseudoResonance/Pixy2JavaAPI

Nested Class Summary

Nested Classes
Modifier and Type Class Description

static class Pixy2.Checksum

static class Pixy2.LinkType

static class Pixy2.Version

Field Summary

Fields
Modifier and Type	Field	Description
`protected byte[]`	`buffer`
`protected byte[]`	`bufferPayload`
`protected Pixy2CCC`	`ccc`
`protected int`	`frameHeight`
`protected int`	`frameWidth`
`protected int`	`length`
`protected Pixy2Line`	`line`
`protected boolean`	`m_cs`
`static int`	`PIXY_BUFFERSIZE`
`static int`	`PIXY_CHECKSUM_SYNC`
`static int`	`PIXY_DEFAULT_ARGVAL`
`static int`	`PIXY_MAX_PROGNAME`
`static int`	`PIXY_NO_CHECKSUM_SYNC`
`static int`	`PIXY_RCS_CENTER_POS`
`static int`	`PIXY_RCS_MAX_POS`
`static int`	`PIXY_RCS_MIN_POS`
`static byte`	`PIXY_RESULT_BUSY`
`static byte`	`PIXY_RESULT_BUTTON_OVERRIDE`
`static byte`	`PIXY_RESULT_CHECKSUM_ERROR`
`static byte`	`PIXY_RESULT_ERROR`
`static byte`	`PIXY_RESULT_OK`
`static byte`	`PIXY_RESULT_PROG_CHANGING`
`static byte`	`PIXY_RESULT_TIMEOUT`
`static int`	`PIXY_SEND_HEADER_SIZE`
`static byte`	`PIXY_TYPE_REQUEST_BRIGHTNESS`
`static byte`	`PIXY_TYPE_REQUEST_CHANGE_PROG`
`static byte`	`PIXY_TYPE_REQUEST_FPS`
`static byte`	`PIXY_TYPE_REQUEST_LAMP`
`static byte`	`PIXY_TYPE_REQUEST_LED`
`static byte`	`PIXY_TYPE_REQUEST_RESOLUTION`
`static byte`	`PIXY_TYPE_REQUEST_SERVO`
`static byte`	`PIXY_TYPE_REQUEST_VERSION`
`static byte`	`PIXY_TYPE_RESPONSE_ERROR`
`static byte`	`PIXY_TYPE_RESPONSE_RESOLUTION`
`static byte`	`PIXY_TYPE_RESPONSE_RESULT`
`static byte`	`PIXY_TYPE_RESPONSE_VERSION`
`protected int`	`type`
`protected Pixy2.Version`	`version`
`protected Pixy2Video`	`video`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`byte`	`changeProg(char[] prog)`	Sends change program packet to Pixy2
`void`	`close()`	Closes Pixy2
`static Pixy2`	`createInstance(Link link)`	Gets Pixy2 instance with supplied communication link
`static Pixy2`	`createInstance(Pixy2.LinkType type)`	Gets Pixy2 instance with supplied communication link type
`Pixy2CCC`	`getCCC()`	Get Pixy2 Color Connected Components tracker
`byte`	`getFPS()`	Gets Pixy2 camera framerate between 2-62fps
`int`	`getFrameHeight()`	Get height of the pixy's visual frame after initialization
`int`	`getFrameWidth()`	Get width of the pixy's visual frame after initialization
`Pixy2Line`	`getLine()`	Get Pixy2 line tracker
`byte`	`getResolution()`	Gets camera resolution from Pixy2
`int`	`getVersion()`	Gets version info from Pixy2
`Pixy2.Version`	`getVersionInfo()`	Gets stored Pixy2 `Pixy2.Version` info or retrieves from Pixy2 if not present
`Pixy2Video`	`getVideo()`	Get Pixy2 video tracker
`int`	`init()`	Initializes Pixy2 and waits for startup to complete using default link argument value
`int`	`init(int argument)`	Initializes Pixy2 and waits for startup to complete
`protected int`	`receivePacket()`	Receives packet from Pixy2 and outputs to buffer for further processing
`protected int`	`sendPacket()`	Sends packet to Pixy2 from buffer
`byte`	`setCameraBrightness(int brightness)`	Sets Pixy2 camera brightness between 0-255
`byte`	`setLamp(byte upper, byte lower)`	Turns Pixy2 light source on/off Use 1 to indicate on, 0 to indicate off
`byte`	`setLED(int rgb)`	Sets Pixy2 LED color to specified RGB value
`byte`	`setLED(int r, int g, int b)`	Sets Pixy2 LED color to specified RGB values between 0-255
`byte`	`setLED(java.awt.Color color)`	Sets Pixy2 LED color to specified Color
`byte`	`setServos(int pan, int tilt)`	Sets Pixy2 servo positions between 0-1000

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - PIXY_BUFFERSIZE
```
public static final int PIXY_BUFFERSIZE
```
    See Also:
    
    Constant Field Values
  - PIXY_SEND_HEADER_SIZE
```
public static final int PIXY_SEND_HEADER_SIZE
```
    See Also:
    
    Constant Field Values
  - PIXY_MAX_PROGNAME
```
public static final int PIXY_MAX_PROGNAME
```
    See Also:
    
    Constant Field Values
  - PIXY_DEFAULT_ARGVAL
```
public static final int PIXY_DEFAULT_ARGVAL
```
    See Also:
    
    Constant Field Values
  - PIXY_CHECKSUM_SYNC
```
public static final int PIXY_CHECKSUM_SYNC
```
    See Also:
    
    Constant Field Values
  - PIXY_NO_CHECKSUM_SYNC
```
public static final int PIXY_NO_CHECKSUM_SYNC
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_CHANGE_PROG
```
public static final byte PIXY_TYPE_REQUEST_CHANGE_PROG
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_RESOLUTION
```
public static final byte PIXY_TYPE_REQUEST_RESOLUTION
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_RESPONSE_RESOLUTION
```
public static final byte PIXY_TYPE_RESPONSE_RESOLUTION
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_VERSION
```
public static final byte PIXY_TYPE_REQUEST_VERSION
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_RESPONSE_VERSION
```
public static final byte PIXY_TYPE_RESPONSE_VERSION
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_RESPONSE_RESULT
```
public static final byte PIXY_TYPE_RESPONSE_RESULT
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_RESPONSE_ERROR
```
public static final byte PIXY_TYPE_RESPONSE_ERROR
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_BRIGHTNESS
```
public static final byte PIXY_TYPE_REQUEST_BRIGHTNESS
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_SERVO
```
public static final byte PIXY_TYPE_REQUEST_SERVO
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_LED
```
public static final byte PIXY_TYPE_REQUEST_LED
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_LAMP
```
public static final byte PIXY_TYPE_REQUEST_LAMP
```
    See Also:
    
    Constant Field Values
  - PIXY_TYPE_REQUEST_FPS
```
public static final byte PIXY_TYPE_REQUEST_FPS
```
    See Also:
    
    Constant Field Values
  - PIXY_RESULT_OK
```
public static final byte PIXY_RESULT_OK
```
    See Also:
    
    Constant Field Values
  - PIXY_RESULT_ERROR
```
public static final byte PIXY_RESULT_ERROR
```
    See Also:
    
    Constant Field Values
  - PIXY_RESULT_BUSY
```
public static final byte PIXY_RESULT_BUSY
```
    See Also:
    
    Constant Field Values
  - PIXY_RESULT_CHECKSUM_ERROR
```
public static final byte PIXY_RESULT_CHECKSUM_ERROR
```
    See Also:
    
    Constant Field Values
  - PIXY_RESULT_TIMEOUT
```
public static final byte PIXY_RESULT_TIMEOUT
```
    See Also:
    
    Constant Field Values
  - PIXY_RESULT_BUTTON_OVERRIDE
```
public static final byte PIXY_RESULT_BUTTON_OVERRIDE
```
    See Also:
    
    Constant Field Values
  - PIXY_RESULT_PROG_CHANGING
```
public static final byte PIXY_RESULT_PROG_CHANGING
```
    See Also:
    
    Constant Field Values
  - PIXY_RCS_MIN_POS
```
public static final int PIXY_RCS_MIN_POS
```
    See Also:
    
    Constant Field Values
  - PIXY_RCS_MAX_POS
```
public static final int PIXY_RCS_MAX_POS
```
    See Also:
    
    Constant Field Values
  - PIXY_RCS_CENTER_POS
```
public static final int PIXY_RCS_CENTER_POS
```
    See Also:
    
    Constant Field Values
  - buffer
```
protected byte[] buffer
```
  - length
```
protected int length
```
  - type
```
protected int type
```
  - bufferPayload
```
protected byte[] bufferPayload
```
  - frameWidth
```
protected int frameWidth
```
  - frameHeight
```
protected int frameHeight
```
  - version
```
protected Pixy2.Version version
```
  - ccc
```
protected Pixy2CCC ccc
```
  - line
```
protected Pixy2Line line
```
  - video
```
protected Pixy2Video video
```
  - m_cs
```
protected boolean m_cs
```
- Method Detail
  - init
```
public int init(int argument)
```
    Initializes Pixy2 and waits for startup to complete
    
    Parameters:
    
    argument - Argument to setup Link
    
    Returns:
    
    Pixy2 error code
  - init
```
public int init()
```
    Initializes Pixy2 and waits for startup to complete using default link argument value
    
    Returns:
    
    Pixy2 error code
  - createInstance
```
public static Pixy2 createInstance(Link link)
```
    Gets Pixy2 instance with supplied communication link
    
    Parameters:
    
    link - Communication Link to Pixy2
    
    Returns:
    
    Pixy2 instance
  - createInstance
```
public static Pixy2 createInstance(Pixy2.LinkType type)
```
    Gets Pixy2 instance with supplied communication link type
    
    Parameters:
    
    type - Communication Pixy2.LinkType to Pixy2
    
    Returns:
    
    Pixy2 instance
  - close
```
public void close()
```
    Closes Pixy2
  - getCCC
```
public Pixy2CCC getCCC()
```
    Get Pixy2 Color Connected Components tracker
    
    Returns:
    
    Pixy2 Color Connected Components tracker
  - getLine
```
public Pixy2Line getLine()
```
    Get Pixy2 line tracker
    
    Returns:
    
    Pixy2 line tracker
  - getVideo
```
public Pixy2Video getVideo()
```
    Get Pixy2 video tracker
    
    Returns:
    
    Pixy2 video tracker
  - getFrameWidth
```
public int getFrameWidth()
```
    Get width of the pixy's visual frame after initialization
    
    Returns:
    
    Pixy2 Frame Width
  - getFrameHeight
```
public int getFrameHeight()
```
    Get height of the pixy's visual frame after initialization
    
    Returns:
    
    Pixy2 Frame Height
  - getVersionInfo
```
public Pixy2.Version getVersionInfo()
```
    Gets stored Pixy2 Pixy2.Version info or retrieves from Pixy2 if not present
    
    Returns:
    
    Pixy2 Version Info
  - receivePacket
```
protected int receivePacket()
```
    Receives packet from Pixy2 and outputs to buffer for further processing
    
    Returns:
    
    Length of bytes received or Pixy2 error code
  - sendPacket
```
protected int sendPacket()
```
    Sends packet to Pixy2 from buffer
    
    Returns:
    
    Length of bytes sent or Pixy2 error code
  - changeProg
```
public byte changeProg(char[] prog)
```
    Sends change program packet to Pixy2
    
    Parameters:
    
    prog - Program name
    
    Returns:
    
    Pixy2 error code
  - getVersion
```
public int getVersion()
```
    Gets version info from Pixy2
    
    Returns:
    
    Buffer length or Pixy2 error code
  - getResolution
```
public byte getResolution()
```
    Gets camera resolution from Pixy2
    
    Returns:
    
    Pixy2 error code
  - setCameraBrightness
```
public byte setCameraBrightness(int brightness)
```
    Sets Pixy2 camera brightness between 0-255
    
    Parameters:
    
    brightness - Byte representing camera brightness
    
    Returns:
    
    Pixy2 error code
  - setServos
```
public byte setServos(int pan,
                      int tilt)
```
    Sets Pixy2 servo positions between 0-1000
    
    Parameters:
    
    pan - Pan servo position
    
    tilt - Tilt servo position
    
    Returns:
    
    Pixy2 error code
  - setLED
```
public byte setLED(java.awt.Color color)
```
    Sets Pixy2 LED color to specified Color
    
    Parameters:
    
    color - Color
    
    Returns:
    
    Pixy2 error code
  - setLED
```
public byte setLED(int rgb)
```
    Sets Pixy2 LED color to specified RGB value
    
    Parameters:
    
    rgb - RGB value
    
    Returns:
    
    Pixy2 error code
  - setLED
```
public byte setLED(int r,
                   int g,
                   int b)
```
    Sets Pixy2 LED color to specified RGB values between 0-255
    
    Parameters:
    
    r - R value
    
    g - G value
    
    b - B value
    
    Returns:
    
    Pixy2 error code
  - setLamp
```
public byte setLamp(byte upper,
                    byte lower)
```
    Turns Pixy2 light source on/off Use 1 to indicate on, 0 to indicate off
    
    Parameters:
    
    upper - Byte indicating status of white LEDs
    
    lower - Byte indicating status of RGB LED
    
    Returns:
    
    Pixy2 error code
  - getFPS
```
public byte getFPS()
```
    Gets Pixy2 camera framerate between 2-62fps
    
    Returns:
    
    Framerate or Pixy2 error code

Modifier and Type	Class	Description
`static class`	`Pixy2.Checksum`
`static class`	`Pixy2.LinkType`
`static class`	`Pixy2.Version`

Class Pixy2

Nested Class Summary

Field Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

PIXY_BUFFERSIZE

PIXY_SEND_HEADER_SIZE

PIXY_MAX_PROGNAME

PIXY_DEFAULT_ARGVAL

PIXY_CHECKSUM_SYNC

PIXY_NO_CHECKSUM_SYNC

PIXY_TYPE_REQUEST_CHANGE_PROG

PIXY_TYPE_REQUEST_RESOLUTION

PIXY_TYPE_RESPONSE_RESOLUTION

PIXY_TYPE_REQUEST_VERSION

PIXY_TYPE_RESPONSE_VERSION

PIXY_TYPE_RESPONSE_RESULT

PIXY_TYPE_RESPONSE_ERROR

PIXY_TYPE_REQUEST_BRIGHTNESS

PIXY_TYPE_REQUEST_SERVO

PIXY_TYPE_REQUEST_LED

PIXY_TYPE_REQUEST_LAMP

PIXY_TYPE_REQUEST_FPS

PIXY_RESULT_OK

PIXY_RESULT_ERROR

PIXY_RESULT_BUSY

PIXY_RESULT_CHECKSUM_ERROR

PIXY_RESULT_TIMEOUT

PIXY_RESULT_BUTTON_OVERRIDE

PIXY_RESULT_PROG_CHANGING

PIXY_RCS_MIN_POS

PIXY_RCS_MAX_POS

PIXY_RCS_CENTER_POS

buffer

length

type

bufferPayload

frameWidth

frameHeight

version

ccc

line

video

m_cs

Method Detail

init

init

createInstance

createInstance

close

getCCC

getLine

getVideo

getFrameWidth

getFrameHeight

getVersionInfo

receivePacket

sendPacket

changeProg

getVersion

getResolution

setCameraBrightness

setServos

setLED

setLED

setLED

setLamp

getFPS