Reading it on MATRIX (mVision)

Warning

v1 not yet hardware-verified: the value layout is final and passes the computer-side tests, but real-hardware numbers (fps, line-following thresholds, I2C pins) may change after bench testing.

To a MATRIX Mini R4 the SharpShot Vision (MATRIX edition) is an mVision camera: read it with the built-in MATRIXblock mVision blocks, no library to install, no I2C. Every slot is in the value reference: MATRIX, full programs in the MATRIX examples.

Wiring

1. Connect the camera to the serial port the Mini R4 uses for the mVision camera (Serial1, 115200).
2. The top-left corner of the camera screen shows the host name: green = connected, red = disconnected.
3. Pick the camera mode and sub-option in the camera's MODE menu (see "On the camera" on the product page). The MATRIX cannot read which mode the camera is in, so decode according to the mode you picked.

The 10 data slots

• The "mVision data 0~9" block gives one number 0~65535 per slot. "Slot 1" in the value reference = data 0 in the block, "slot 10" = data 9.
• Don't use data 10: the MATRIX program only declares 10 slots; data 10 reads unrelated memory.
• A slot often holds two values: A + B×256, A = reading mod 256, B = reading ÷ 256 (integer part).
• Coordinates are 160×120 pixels (X 0159 left → right, Y 0119 top → bottom), 0 = not seen.
• Values that can be negative (line offsets, angle, edges) are sent +100; subtract 100.

Example: Color tracking ③ Standard (5 colors XY + area):

In MATRIXblock use the Math divide and remainder blocks; check that X is not 0 before using the coordinates.

Other camera modes

What each slot holds: value reference: MATRIX.

Camera mode 5 object detection

The camera sorts the objects in the picture from largest to smallest (object 1 = largest) and gives each an object code = color × 10 + shape (13 = a triangle of target 1, 0 = none). Shapes: 0 other, 1 circle, 2 ellipse, 3 triangle, 4 square, 5 rectangle, 6 pentagon, 7 hexagon, 8 star, 9 trapezoid. X, Y is the centroid of the object; only target colors 1~8 count. Mode number 51 = ① Object list, 52 = ② Object detail. Split the code: color = code ÷ 10 (whole number), shape = remainder of code ÷ 10.

In 51 data 9 is unused. MATRIX gets no angle, vertices or track id (use the I2C version for those). In MATRIXblock split the cells with the Math divide and remainder blocks; in C++ read object 1 like this:

#include <MatrixMiniR4.h>
unsigned int CamData[10];                // the 10 mVision slots (data 0~9)

void setup() {
  MiniR4.begin();
  MiniR4.Vision.Begin();                 // start receiving mVision (Serial1 115200)
  Serial.begin(115200);
}

void loop() {
  if (MiniR4.Vision.SmartCamReader(CamData) > 0) {   // camera set to Object detection ① Object list (51)
    int n = CamData[0];                  // data 0: object count
    int code = CamData[1] % 256;         // data 1 remainder: object 1 code (color × 10 + shape)
    int area = CamData[1] / 256;         // data 1 ÷256: object 1 area %
    int x = CamData[2] % 256;            // data 2 remainder: object 1 X
    int y = CamData[2] / 256;            // data 2 ÷256: object 1 Y
    Serial.print("objects "); Serial.print(n);
    Serial.print("  object 1 code "); Serial.print(code);
    Serial.print(" color "); Serial.print(code / 10);
    Serial.print(" shape "); Serial.print(code % 10);
    Serial.print(" X "); Serial.print(x);
    Serial.print(" Y "); Serial.print(y);
    Serial.print(" area "); Serial.println(area);
  }
  delay(50);
}

The helpers in the examples, ucObject(mode, i, o), ucObjectCount(mode) and ucShapeName(s), wrap all of this; see MATRIX example 3.

Slot tables and examples

• Value reference: MATRIX
• MATRIX example programs
• Hue codes, grid conversion: product page

FAQ

• Odd numbers? Make sure you are not using "data 10"; only data 0~9 mean anything. Also check that the "mode-sub-option" in the top-right corner of the camera matches how your program decodes.
• The color sensor blocks read nothing? On MATRIX this product talks serial, so only the mVision blocks work.