RCodePlus Device control features

This page describes lower level device control extensions provided in RCodePlus.

AP_DEVCTL

Device control for setting camera white balance, gain, and shutter speed. Also sets microphone parameters.

	AP_DEVCTL prop val

	prop = 1, sets camera white balance (1 = inside, 2 = outside, 3 = fluorescent)
	prop = 2, sets camera gain (1 = low, 2 = med, 3 = high)
	prop = 3, set camera shutter speed (1 = slow, 2 = med, 3 = fast)
	prop = 4, sets microphone omni mode (0 = off = unidirectional, 1 = on = omnidirectional).
	prop = 5, sets microphone ALC (0 = off, 1 = on = automatic level control)
        [does not appear to work]
	prop = 6, sets Human Face Detector on/off (0 = off, 1 = on). Eats up CPU cycles.

AP_GETACCEL

The accelerometers can be read with AP_GETACCEL.

    AP_GETACCEL varY varX varZ

    returns the X, Y and Z values in the 3 variables (all three are needed)
    Units are micro-meters per second per second (range +- 2G).
    For the ERS-31x, the last "Z" parameter is not set.

AP_VOICEREC, AP_VoiceRec_Result (2.51)

This is an advanced feature for implementing "Name Registration".

    AP_VOICEREC vcmdID

    inputs:
        vcmdID = voice command number
	        1 = dog's name
	        0x100 = owner's name
	        another number over 0x100 = other name

    outputs:
        When AP_VOICEREC is called, "AP_VoiceRec_Result" is initially set to -1.
        The variable will stay at -1 while recording.
        When the request is completed, "AP_VoiceRec_Result" is the return code.
            Typical values are 1 for complete, 2 for incomplete, 3 for error

        AP_VoiceRec_Result will be -1 while recording,
                1 if complete, 2 if incomplete

See ObeyCat or Yacky AIBO for sample code. You should assign extra words from 257 up. When the recognized word is heard, it will be treated like any other voice command (use AU_Voice or AP_Voice_Cmd). The Dog's name returns number 1, the owners name returns number 256. Other extra words should return 257 up.

AP_GETSYNVOICE, AP_SynBite_Mode (2.51)

This is an advanced feature for implementing "What's your name" or mimic mode.

TO BE DOCUMENTED

See the RCR (RCode Runtime) used in ObeyCat or Yacky AIBO for sample code.