# This work is licensed under the MIT license.
# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# Global Shutter Triggered Mode Example
#
# This example shows off setting the global shutter camera into triggered mode. In triggered mode
# snapshot() controls EXACTLY when integration of the camera pixels start such that you can sync
# taking pictures to some external movement. Since the camera captures all pixels at the same time
# (as it is a global shutter camera versus a rolling shutter camera) movement in the image will
# only be captured for the integration time and not the integration time multiplied by the number
# of rows in the image. Additionally, sensor noise is reduced in triggered mode as the camera will
# not read out rows until after exposing which results in a higher quality image.
#
# That said, your maximum frame rate will be reduced by 2 to 3 as frames are no longer generated
# continuously by the camera and because you have to wait for the integration to finish before
# readout of the frame.

import sensor
import time

sensor.reset()  # Reset and initialize the sensor.
sensor.set_pixformat(sensor.GRAYSCALE)  # Set pixel format to GRAYSCALE
sensor.set_framesize(sensor.VGA)  # Set frame size to VGA (640x480)
sensor.skip_frames(time=2000)  # Wait for settings take effect.
clock = time.clock()  # Create a clock object to track the FPS.

sensor.ioctl(sensor.IOCTL_SET_TRIGGERED_MODE, True)

while True:
    clock.tick()  # Update the FPS clock.
    img = sensor.snapshot()  # Take a picture and return the image.
    print(clock.fps())  # Note: OpenMV Cam runs about half as fast when connected
    # to the IDE. The FPS should increase once disconnected.