| Camera functions | ||
|---|---|---|
| Tested on Robot A (1) Running RoBIOS version 2.3l at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| CAMGet(&i,&h,&s) | 13.13 | 76159.76 |
| CAMGetColFrame(&cimg, 0) | 265957.45 | 3.76 |
| CAMGetColFrame(&cimg, 1) | 265957.45 | 3.76 |
| CAMGetFrame(&img) | 265957.45 | 3.76 |
| CAMMode(AUTOBRIGHTNESS) | 265957.45 | 3.76 |
| CAMSet(0,0,0) | 6.93 | 144271.59 |
| CAMSet(127,127,127) | 7.79 | 128307.94 |
| CAMSet(255,255,255) | 7.79 | 128307.94 |
| Camera functions | ||
| Tested on Robot Danny (1) Running RoBIOS version 2.3l with Color Quickcam at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| CAMGet(&i,&h,&s) | 15.10 | 66211.88 |
| CAMGetColFrame(&cimg, 0) | 645161.29 | 1.55 |
| CAMGetColFrame(&cimg, 1) | 645161.29 | 1.55 |
| CAMGetFrame(&img) | 10.60 | 94319.86 |
| CAMMode(AUTOBRIGHTNESS) | 10.07 | 99317.19 |
| CAMSet(0,0,0) | 14.46 | 69177.56 |
| CAMSet(127,127,127) | 14.93 | 66964.29 |
| CAMSet(255,255,255) | 14.93 | 66964.29 |
| Key functions | ||
| Tested on Robot Danny (1) Running RoBIOS version 2.3l with Color Quickcam at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| KEYRead() | 254.10 | 3935.42 |
| LCD functions | ||
| Tested on Robot A (1) Running RoBIOS version 2.3l at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| LCDArea(1,1,2,2,1) | 400.33 | 2497.92 |
| LCDArea(1,1,2,2,2) | 399.07 | 2505.85 |
| LCDArea(1,1,32,32,1) | 94250.71 | 10.61 |
| LCDArea(1,1,64,64,1) | 25.64 | 39007.88 |
| LCDArea(1,1,8,8,1) | 5920.66 | 168.90 |
| LCDArea(1,1,8,8,2) | 5929.44 | 168.65 |
| LCDClear() | 66844.92 | 14.96 |
| LCDGetPixel(1,1) | 62.40 | 16025.64 |
| LCDInvertPixel(1,1) | 91.56 | 10922.33 |
| LCDLine(1,1,1,64,1) | 28.33 | 35301.05 |
| LCDLine(1,1,1,64,2) | 28.31 | 35321.82 |
| LCDLine(1,1,32,32,1) | 3089.18 | 323.71 |
| LCDLine(1,1,64,1,1) | 6054.73 | 165.16 |
| LCDLine(1,1,64,1,2) | 6082.73 | 164.40 |
| LCDLine(1,1,64,64,1) | 28.33 | 35301.06 |
| LCDMenu("one","two","thre","four") | 2536.27 | 394.28 |
| LCDMenuI(1,"one") | 707.13 | 1414.17 |
| LCDMenuI(2,"two") | 707.24 | 1413.94 |
| LCDMenuI(3,"thre") | 708.81 | 1410.82 |
| LCDMenuI(4,"four") | 708.81 | 1410.82 |
| LCDMode(CURSOR) | 27.03 | 36992.85 |
| LCDMode(SCROLLING) | 26.26 | 38080.13 |
| LCDPutChar(c) | 840.27 | 1190.09 |
| LCDPutGraphic(&img1) | 22041.00 | 45.37 |
| LCDPutHex(i) | 6865.77 | 145.65 |
| LCDPutHex1(i) | 1721.94 | 580.74 |
| LCDPutImage((BYTE*)img1) | 7650.52 | 130.71 |
| LCDPutInt(i) | 8582.22 | 116.52 |
| LCDPutIntS(i,6) | 8568.25 | 116.71 |
| LCDPutString("Testing\n") | 12716.17 | 78.64 |
| LCDSetChar(1,1,c) | 211.29 | 4732.83 |
| LCDSetChar(10,10,c) | 211.29 | 4732.83 |
| LCDSetPixel(1,1,0) | 93.57 | 10687.57 |
| LCDSetPixel(1,1,1) | 94.27 | 10607.85 |
| LCDSetPixel(1,1,2) | 92.97 | 10756.55 |
| LCDSetPos(0,0) | 85.88 | 11643.61 |
| LCDSetPos(5,5) | 86.65 | 11540.49 |
| LCDSetString(1,1,"Testing\n") | 1141.49 | 876.05 |
| LCDSetString(10,10,"Testing\n") | 1146.67 | 872.09 |
| OS functions | ||
| Tested on Robot E (5) Running RoBIOS version 2.3l at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| OSEnable() | 7.22 | 138568.50 |
| OSGetVar(SYSSAVEVAR7) | 18.11 | 55218.73 |
| OSMachineID() | 5.68 | 176125.58 |
| OSMachineName() | 5.88 | 169971.97 |
| OSMachineSpeed() | 5.67 | 176240.47 |
| OSMachineType() | 7.43 | 134604.75 |
| OSPutVar(SYSSAVEVAR7, k) | 21.34 | 46855.48 |
| PSD functions | ||
| Tested on Robot E (5) Running RoBIOS version 2.3l at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| PSDCheck() | 5.48 | 182458.42 |
| PSDGet(handle) | 21.08 | 47440.70 |
| PSDGetRaw(handle) | 19.20 | 52096.57 |
| Timer functions | ||
| Tested on Robot E (5) Running RoBIOS version 2.3l at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| OSGetCount() | 5.67 | 176298.09 |
| OSGetTime(&hrs, &mins, &secs, &ticks) | 19.68 | 50825.92 |
| OSSetTime(hrs, mins, secs) | 13.14 | 76107.12 |
| OSShowTime() | 40453.07 | 24.72 |
| OSWait(1) | 10000.00 | 100.00 |
| image processing | ||
| Tested on Robot Danny (1) Running RoBIOS version 2.3l with Color Quickcam at 35.7 Mhz | ||
| Function(parameters) | microseconds per call | Number of calls per second |
| IPColor2Grey(&cimg1, &img2) | 8302.89 | 120.44 |
| IPDiffer(&img1, &img2, &img3) | 8278.83 | 120.79 |
| IPDither(&img1, &img2) | 4298.67 | 232.63 |
| IPGreyAverage(&cimg1) | 3005.98 | 332.67 |
| IPLaplace(himg1[2], &img2) | 20627.06 | 48.48 |
| IPSobel(&img1, &img2) | 35137.03 | 28.46 |
| IP_Color2Grey(&cimg1, &img2) | 34989.50 | 28.58 |
| IP_Color2GreyE(&cimg1, &img2) | 13860.01 | 72.15 |
| IP_ImageRGB2HSI(&cimg1, &himg1) | 2083333.33 | 0.48 |