java.lang.Object
- io.github.pseudoresonance.pixy2api.Pixy2Line

```
public class Pixy2Line
extends java.lang.Object
```
Java Port of Pixy2 Arduino Library Defines line tracker for Pixy2 https://github.com/PseudoResonance/Pixy2JavaAPI

Nested Class Summary

Nested Classes
Modifier and Type	Class	Description
`static class`	`Pixy2Line.Barcode`
`static class`	`Pixy2Line.Intersection`
`static class`	`Pixy2Line.IntersectionLine`
`static class`	`Pixy2Line.Vector`

Field Summary

Fields
Modifier and Type	Field	Description
`static byte`	`LINE_ALL_FEATURES`
`static byte`	`LINE_BARCODE`
`static byte`	`LINE_FLAG_INTERSECTION_PRESENT`
`static byte`	`LINE_FLAG_INVALID`
`static byte`	`LINE_GET_ALL_FEATURES`
`static byte`	`LINE_GET_MAIN_FEATURES`
`static byte`	`LINE_INTERSECTION`
`static byte`	`LINE_MAX_INTERSECTION_LINES`
`static byte`	`LINE_MODE_MANUAL_SELECT_VECTOR`
`static byte`	`LINE_MODE_TURN_DELAYED`
`static byte`	`LINE_MODE_WHITE_LINE`
`static byte`	`LINE_REQUEST_GET_FEATURES`
`static byte`	`LINE_REQUEST_REVERSE_VECTOR`
`static byte`	`LINE_REQUEST_SET_DEFAULT_TURN_ANGLE`
`static byte`	`LINE_REQUEST_SET_MODE`
`static byte`	`LINE_REQUEST_SET_NEXT_TURN_ANGLE`
`static byte`	`LINE_REQUEST_SET_VECTOR`
`static byte`	`LINE_RESPONSE_GET_FEATURES`
`static byte`	`LINE_VECTOR`

Constructor Summary

Constructors
Modifier Constructor Description

protected Pixy2Line(Pixy2 pixy)
Constructs Pixy2 Line Tracker

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`byte`	`getAllFeatures()`	Gets all features from Pixy2
`byte`	`getAllFeatures(byte features)`	Gets all features from Pixy2
`byte`	`getAllFeatures(byte features, boolean wait)`	Gets all features from Pixy2
`Pixy2Line.Barcode[]`	`getBarcodeCache()`	Gets detected barcodes from cache
`Pixy2Line.Intersection[]`	`getIntersectionCache()`	Gets detected intersections from cache
`byte`	`getMainFeatures()`	Gets the main features from the Pixy2.
`byte`	`getMainFeatures(byte features)`	Gets the main features from the Pixy2.
`byte`	`getMainFeatures(byte features, boolean wait)`	Gets the main features from the Pixy2.
`Pixy2Line.Vector[]`	`getVectorCache()`	Gets detected lines from cache
`byte`	`reverseVector()`	Requests to invert vector
`byte`	`setDefaultTurn(short angle)`	Sets default angle to turn to at an intersection
`byte`	`setMode(int mode)`	Sets Pixy2 line tracking mode
`byte`	`setNextTurn(short angle)`	Sets turn angle to use for next intersection
`byte`	`setVector(int index)`	Choose vector to track manually

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

- Field Detail
  - LINE_REQUEST_GET_FEATURES
```
public static final byte LINE_REQUEST_GET_FEATURES
```
    See Also:
    
    Constant Field Values
  - LINE_RESPONSE_GET_FEATURES
```
public static final byte LINE_RESPONSE_GET_FEATURES
```
    See Also:
    
    Constant Field Values
  - LINE_REQUEST_SET_MODE
```
public static final byte LINE_REQUEST_SET_MODE
```
    See Also:
    
    Constant Field Values
  - LINE_REQUEST_SET_VECTOR
```
public static final byte LINE_REQUEST_SET_VECTOR
```
    See Also:
    
    Constant Field Values
  - LINE_REQUEST_SET_NEXT_TURN_ANGLE
```
public static final byte LINE_REQUEST_SET_NEXT_TURN_ANGLE
```
    See Also:
    
    Constant Field Values
  - LINE_REQUEST_SET_DEFAULT_TURN_ANGLE
```
public static final byte LINE_REQUEST_SET_DEFAULT_TURN_ANGLE
```
    See Also:
    
    Constant Field Values
  - LINE_REQUEST_REVERSE_VECTOR
```
public static final byte LINE_REQUEST_REVERSE_VECTOR
```
    See Also:
    
    Constant Field Values
  - LINE_GET_MAIN_FEATURES
```
public static final byte LINE_GET_MAIN_FEATURES
```
    See Also:
    
    Constant Field Values
  - LINE_GET_ALL_FEATURES
```
public static final byte LINE_GET_ALL_FEATURES
```
    See Also:
    
    Constant Field Values
  - LINE_MODE_TURN_DELAYED
```
public static final byte LINE_MODE_TURN_DELAYED
```
    See Also:
    
    Constant Field Values
  - LINE_MODE_MANUAL_SELECT_VECTOR
```
public static final byte LINE_MODE_MANUAL_SELECT_VECTOR
```
    See Also:
    
    Constant Field Values
  - LINE_MODE_WHITE_LINE
```
public static final byte LINE_MODE_WHITE_LINE
```
    See Also:
    
    Constant Field Values
  - LINE_VECTOR
```
public static final byte LINE_VECTOR
```
    See Also:
    
    Constant Field Values
  - LINE_INTERSECTION
```
public static final byte LINE_INTERSECTION
```
    See Also:
    
    Constant Field Values
  - LINE_BARCODE
```
public static final byte LINE_BARCODE
```
    See Also:
    
    Constant Field Values
  - LINE_ALL_FEATURES
```
public static final byte LINE_ALL_FEATURES
```
    See Also:
    
    Constant Field Values
  - LINE_FLAG_INVALID
```
public static final byte LINE_FLAG_INVALID
```
    See Also:
    
    Constant Field Values
  - LINE_FLAG_INTERSECTION_PRESENT
```
public static final byte LINE_FLAG_INTERSECTION_PRESENT
```
    See Also:
    
    Constant Field Values
  - LINE_MAX_INTERSECTION_LINES
```
public static final byte LINE_MAX_INTERSECTION_LINES
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Pixy2Line
```
protected Pixy2Line(Pixy2 pixy)
```
    Constructs Pixy2 Line Tracker
    
    Parameters:
    
    pixy - Pixy2 instance
- Method Detail
  - getAllFeatures
```
public byte getAllFeatures()
```
    Gets all features from Pixy2
    
    Defaults to getting all available features and waiting for a response
    
    Returned data should be retrieved from the cache with getVectorCache(), getIntersectionCache() or getBarcodeCache()
    
    Returns:
    
    Pixy2 error code
  - getMainFeatures
```
public byte getMainFeatures()
```
    Gets the main features from the Pixy2. This is a more constrained line tracking algorithm.
    
    Defaults to getting all available features and waiting for a response
    
    Returned data should be retrieved from the cache with getVectorCache(), getIntersectionCache() or getBarcodeCache()
    
    Returns:
    
    Pixy2 error code
  - getAllFeatures
```
public byte getAllFeatures(byte features)
```
    Gets all features from Pixy2
    
    Defaults to waiting for a response
    
    Returned data should be retrieved from the cache with getVectorCache(), getIntersectionCache() or getBarcodeCache()
    
    Parameters:
    
    features - Features to get
    
    Returns:
    
    Pixy2 error code
  - getMainFeatures
```
public byte getMainFeatures(byte features)
```
    Gets the main features from the Pixy2. This is a more constrained line tracking algorithm.
    
    Defaults to waiting for a response
    
    Returned data should be retrieved from the cache with getVectorCache(), getIntersectionCache() or getBarcodeCache()
    
    Parameters:
    
    features - Features to get
    
    Returns:
    
    Pixy2 error code
  - getAllFeatures
```
public byte getAllFeatures(byte features,
                           boolean wait)
```
    Gets all features from Pixy2
    
    Returned data should be retrieved from the cache with getVectorCache(), getIntersectionCache() or getBarcodeCache()
    
    Parameters:
    
    features - Features to get
    
    wait - Wait for response
    
    Returns:
    
    Pixy2 error code
  - getMainFeatures
```
public byte getMainFeatures(byte features,
                            boolean wait)
```
    Gets the main features from the Pixy2. This is a more constrained line tracking algorithm.
    
    Returned data should be retrieved from the cache with getVectorCache(), getIntersectionCache() or getBarcodeCache()
    
    Parameters:
    
    features - Features to get
    
    wait - Wait for response
    
    Returns:
    
    Pixy2 error code
  - getVectorCache
```
public Pixy2Line.Vector[] getVectorCache()
```
    Gets detected lines from cache
    
    getFeatures(byte, byte, boolean) must be executed first to get the data actual from Pixy2
    
    Returns:
    
    Pixy2 Lines
  - getIntersectionCache
```
public Pixy2Line.Intersection[] getIntersectionCache()
```
    Gets detected intersections from cache
    
    getFeatures(byte, byte, boolean) must be executed first to get the data actual from Pixy2
    
    Returns:
    
    Pixy2 Intersectionss
  - getBarcodeCache
```
public Pixy2Line.Barcode[] getBarcodeCache()
```
    Gets detected barcodes from cache
    
    getFeatures(byte, byte, boolean) must be executed first to get the data actual from Pixy2
    
    Returns:
    
    Pixy2 Barcodes
  - setMode
```
public byte setMode(int mode)
```
    Sets Pixy2 line tracking mode
    
    Parameters:
    
    mode - Pixy2 line tracking mode
    
    Returns:
    
    Pixy2 error code
  - setNextTurn
```
public byte setNextTurn(short angle)
```
    Sets turn angle to use for next intersection
    
    Parameters:
    
    angle - Turn angle
    
    Returns:
    
    Pixy2 error code
  - setDefaultTurn
```
public byte setDefaultTurn(short angle)
```
    Sets default angle to turn to at an intersection
    
    Parameters:
    
    angle - Turn angle
    
    Returns:
    
    Pixy2 error code
  - setVector
```
public byte setVector(int index)
```
    Choose vector to track manually
    
    Parameters:
    
    index - Index of vector
    
    Returns:
    
    Pixy2 error code
  - reverseVector
```
public byte reverseVector()
```
    Requests to invert vector
    
    Returns:
    
    Pixy2 error code

Class Pixy2Line

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

LINE_REQUEST_GET_FEATURES

LINE_RESPONSE_GET_FEATURES

LINE_REQUEST_SET_MODE

LINE_REQUEST_SET_VECTOR

LINE_REQUEST_SET_NEXT_TURN_ANGLE

LINE_REQUEST_SET_DEFAULT_TURN_ANGLE

LINE_REQUEST_REVERSE_VECTOR

LINE_GET_MAIN_FEATURES

LINE_GET_ALL_FEATURES

LINE_MODE_TURN_DELAYED

LINE_MODE_MANUAL_SELECT_VECTOR

LINE_MODE_WHITE_LINE

LINE_VECTOR

LINE_INTERSECTION

LINE_BARCODE

LINE_ALL_FEATURES

LINE_FLAG_INVALID

LINE_FLAG_INTERSECTION_PRESENT

LINE_MAX_INTERSECTION_LINES

Constructor Detail

Pixy2Line

Method Detail

getAllFeatures

getMainFeatures

getAllFeatures

getMainFeatures

getAllFeatures

getMainFeatures

getVectorCache

getIntersectionCache

getBarcodeCache

setMode

setNextTurn

setDefaultTurn

setVector

reverseVector