Get more than single main feature in EV3 G-Program

ktk1501 · November 28, 2020, 7:50am

Hi. Thanks for your great works on Pixy2.

I am using Pixy2 LEGO, and want to connect it to EV3 without Python Firmware.
So I used your Pixy2 ev3b block on ev3 G-program and it was able to run examples.
But I want to get more than one features in the G-program while line following.

I had works on Pixy2 API and I could get all the features using I2C protocol in Python. It works nicely. But I want it to work on G-program.
When I see the ev3b and vix implementation, I found that LEGO line follwing API is embedded on “0x5A”, which is 90. But I couldn’t found any hints of them among any documentations and googling.

Can you show me how to get all the features while line following on EV3 G-Program?

Thanks.

edge · November 30, 2020, 10:29pm

Hello,
Have you seen this page?

https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy_lego_block

If you’re interested in the code that Pixy runs to interpret the I2C, look in serial.cpp (lego_getData())

github.com

charmedlabs/pixy2/blob/master/src/device/main_m4/src/serial.cpp

//
// begin license header
//
// This file is part of Pixy CMUcam5 or "Pixy" for short
//
// All Pixy source code is provided under the terms of the
// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
// Those wishing to use Pixy source code, software and/or
// technologies under different licensing terms should contact us at
// [email protected]. Such licensing terms are available for
// all portions of the Pixy codebase presented here.
//
// end license header
//

#include <string.h>
#include "serial.h"
#include "spi.h"
#include "spi2.h"
#include "i2c.h"

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Hope this helps

ktk1501 · December 9, 2020, 7:08am

Hello. Thanks for your reply.

I have checked your link.

Now i wonder whether it is possible to request ‘48’ (0x30) in EV3 G-program to read from ‘getMainFeatures()’ function. In the sample LEGO line following example ev3 program, the type of packet is 90 (0x90) as you can see in the picture.

Do you have some example codes (ev3 block, or something) of such request??

Thanks.