CAMMODE
(Statement)
Specifies camera image capturing conditions.
CAMMODE <camera#>,<capturing_option>,<capture_mode>
<camera#>
Specifies a camera number. (1 or 2)
<capturing_option>
Specifies a capturing option. (0 or 1)
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0:
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Normal (Usual camera setting)
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1:
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Reset (After resetting a camera, capture a camera image.)
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<capture_mode>
Specifies an image capture mode. (0 or 1)
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0:
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Frame capture mode
This mode captures a single frame of a camera image with the maximum vertical resolution.
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1:
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Field capture mode
This mode is selected to use the shutter feature of the field shutter camera. Using this mode causes no field-to-field imaging delay (1/60 sec.), enabling capture of non-blurred images.
Note that the vertical resolution comes to be half.
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If this command is not specified, the factory settings apply.
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This command preserves the factory settings and restarting the controller reverts to the factory settings. User-specified settings are lost.
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Execution of this command checks connection of a camera. If a camera is judged as abnormal, VISSTATUS (0) returns "-1"; if as normal, it returns "0."
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This command requires a µVision board (option) to be mounted in the robot controller.
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CAMMODE 1, 0, 0
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'Specify "Normal" capturing option and "Frame capture mode"
'for camera 1
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I1 = VISSTATUS(0)
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'If camera is normal, I1 = 0
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IF I1 = 0 THEN
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CAMIN 1
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'Capture the image of camera 1 into memory 0
'after conversion with table 0
'(same brightness level as the camera image)
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VISPLNOUT 0
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'Output the image held in memory 0 to the monitor
'(static image)
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VISLOC 10, 10
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'Specify the display location
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VISPRINT "Capturing normal"
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'Display characters on the screen
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ELSE
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VISLOC 10, 10
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'Specify the display location
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VISPRINT "Camera abnormal"
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'Display characters on the screen
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END IF
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