diff --git a/README.md b/README.md
index fddabff..c2e7340 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@ ESP32-S3 camera board that finds a coloured blob and reports its position over I
The ESP runs HSV blob detection on the camera. A MicroPython master can turn the camera on, set colour, and poll for a target. Optionally it can join Wi‑Fi so you can open a browser page to tune the colour live.
-Target position from `read_target()` is relative to the image centre (320x240). Positive x is right, positive y is up. No target returns `None`.
+Target position from `read_target()` is relative to the image centre (320x240). Positive x is right, positive y is up. Diameter is the blob size in pixels (2 × detector radius). No target returns `None`.
## Hardware
@@ -57,8 +57,8 @@ while True:
if target is None:
print("no target")
else:
- x, y = target
- print("target at ({}, {})".format(x, y))
+ x, y, diameter = target
+ print("target at ({}, {}) diameter={}".format(x, y, diameter))
time.sleep(0.07)
```
@@ -67,8 +67,9 @@ Useful calls:
- `eye.start()` — camera on and local detection
- `eye.set_hsv(h, s, v)` / `eye.set_tolerance(...)` — colour (or tune in the browser)
- `eye.set_wifi(ssid, password)` / `eye.wifi_off()` / `eye.wifi_ip()`
-- `eye.read_target()` — `(x, y)` or `None`
+- `eye.read_target()` — `(x, y, diameter)` or `None`
- `eye.set_rgb(r, g, b)`
+- `eye.set_size_limits(max_diameter=..., max_area=...)` — optional; default is no max size
## Web UI
diff --git a/build/.bin_timestamp b/build/.bin_timestamp
index a15b3d2..0b10b61 100644
--- a/build/.bin_timestamp
+++ b/build/.bin_timestamp
@@ -1 +1 @@
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+6a6455df3be9ce6cb464eb7b6094afba C:/Users/jake/Documents/linefollower_eye/build/linefollower_eye.bin
diff --git a/build/.cache/clangd/index/eye_i2c.c.E4AA52D7A6DAD989.idx b/build/.cache/clangd/index/eye_i2c.c.E4AA52D7A6DAD989.idx
index 9671243..5ba0652 100644
Binary files a/build/.cache/clangd/index/eye_i2c.c.E4AA52D7A6DAD989.idx and b/build/.cache/clangd/index/eye_i2c.c.E4AA52D7A6DAD989.idx differ
diff --git a/build/.ninja_deps b/build/.ninja_deps
index e369f62..797cafd 100644
Binary files a/build/.ninja_deps and b/build/.ninja_deps differ
diff --git a/build/.ninja_log b/build/.ninja_log
index 296324d..72627dc 100644
--- a/build/.ninja_log
+++ b/build/.ninja_log
@@ -1,514 +1,514 @@
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+100 283 8063067684388329 C:/Users/jake/Documents/linefollower_eye/build/bootloader/bootloader.elf 84305355ee6df4a
+100 283 8063067684388329 C:/Users/jake/Documents/linefollower_eye/build/bootloader/bootloader.bin 84305355ee6df4a
+100 283 8063067684388329 C:/Users/jake/Documents/linefollower_eye/build/bootloader/bootloader.map 84305355ee6df4a
+283 323 8063067686234725 bootloader-prefix/src/bootloader-stamp/bootloader-install 3842c761d5b0d2cf
+283 323 8063067686234725 C:/Users/jake/Documents/linefollower_eye/build/bootloader-prefix/src/bootloader-stamp/bootloader-install 3842c761d5b0d2cf
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+323 404 8063067687320038 C:/Users/jake/Documents/linefollower_eye/build/bootloader-prefix/src/bootloader-stamp/bootloader-done e3aedaf43e15b9e3
diff --git a/build/CMakeFiles/git-data/head-ref b/build/CMakeFiles/git-data/head-ref
index 090cc19..9d5497e 100644
--- a/build/CMakeFiles/git-data/head-ref
+++ b/build/CMakeFiles/git-data/head-ref
@@ -1 +1 @@
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+c2f4e52e8097cb0b87bd60aec09a67246b1e8d25
diff --git a/build/bootloader/.ninja_log b/build/bootloader/.ninja_log
index 5054439..0e89ea4 100644
--- a/build/bootloader/.ninja_log
+++ b/build/bootloader/.ninja_log
@@ -143,3 +143,9 @@
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+12 139 8063066162703124 esp-idf/esptool_py/CMakeFiles/bootloader_check_size 72d5b948b0e48501
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diff --git a/build/build.ninja b/build/build.ninja
index 94d86bd..fce53df 100644
--- a/build/build.ninja
+++ b/build/build.ninja
@@ -3262,7 +3262,7 @@ build esp-idf/partition_table/CMakeFiles/partition_table-flash | ${cmake_ninja_w
build cmake_object_order_depends_target___idf_esp_app_format: phony || cmake_object_order_depends_target___idf_esp_bootloader_format
build esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj: C_COMPILER____idf_esp_app_format_unscanned_ D$:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_app_format/esp_app_desc.c || cmake_object_order_depends_target___idf_esp_app_format
- DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.5.2\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"linefollower_eye\" -DPROJECT_VER=\"bb2f376-dirty\"
+ DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.5.2\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"linefollower_eye\" -DPROJECT_VER=\"c2f4e52-dirty\"
DEP_FILE = esp-idf\esp_app_format\CMakeFiles\__idf_esp_app_format.dir\esp_app_desc.c.obj.d
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INCLUDES = -IC:/Users/jake/Documents/linefollower_eye/build/config -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_app_format/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/newlib/platform_include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/freertos/config/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/freertos/config/include/freertos -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/freertos/config/xtensa/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/freertos/FreeRTOS-Kernel/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/freertos/FreeRTOS-Kernel/portable/xtensa/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/freertos/esp_additions/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/include/soc -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/include/soc/esp32s3 -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/dma/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/ldo/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/debug_probe/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/mspi_timing_tuning/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/mspi_timing_tuning/tuning_scheme_impl/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/power_supply/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/port/esp32s3/. -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/port/esp32s3/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/mspi_timing_tuning/port/esp32s3/. -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_hw_support/mspi_timing_tuning/port/esp32s3/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/heap/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/heap/tlsf -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/log/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/soc/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/soc/esp32s3 -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/soc/esp32s3/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/soc/esp32s3/register -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/hal/platform_port/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/hal/esp32s3/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/hal/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_rom/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_rom/esp32s3/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_rom/esp32s3/include/esp32s3 -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_rom/esp32s3 -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_common/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_system/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_system/port/soc -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/esp_system/port/include/private -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/xtensa/esp32s3/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/xtensa/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/xtensa/deprecated_include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/include/apps -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/include/apps/sntp -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/lwip/src/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/port/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/port/freertos/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/port/esp32xx/include -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/port/esp32xx/include/arch -ID:/Espressif/frameworks/esp-idf-v5.5.2/components/lwip/port/esp32xx/include/sys
diff --git a/build/compile_commands.json b/build/compile_commands.json
index 74ac696..d5dfd67 100644
--- a/build/compile_commands.json
+++ b/build/compile_commands.json
@@ -931,7 +931,7 @@
},
{
"directory": "C:/Users/jake/Documents/linefollower_eye/build",
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