General Misc > Robot Videos

Wii Nunchuck Controlled Robot

<< < (3/10) > >>

Admin:
hmmm odd about the antenna . . .

is the antenna on your robot also vertical? antennas must be parallel for optimal transmission

Ro-Bot-X:
Nice job, Frank!
Small request, can you post the code for the AVRcam processing sequence? I am struggling making mine work with a Arduino custom board...

Mega:

--- Quote ---Small request, can you post the code for the AVRcam processing sequence?
--- End quote ---

Same request from me. Thanks in advance!

Admin:

--- Quote ---
--- Quote ---Small request, can you post the code for the AVRcam processing sequence?
--- End quote ---

Same request from me. Thanks in advance!
--- End quote ---
and me . . . I tried to do it yesterday actually with the CMUcam on my ATmega168 and so far no luck. The code is basically the same for both cams . . .

frank26080115:

--- Code: ---// Cam Related Variables
// These needs to be written while reading buffer
byte objNum;
byte objColour[8]; // Refer to sensordef.h
// These are used by the robotic functions
boolean noObj;
byte objXCenter[8];
byte objYCenter[8];
byte objWidth[8];
byte objHeight[8];
byte objSize[8]; // Average between width and height used for ranging purposes
byte objShape[8]; // 0 for null, 1 for square, 2 for tall, 3 for wide
boolean objFound;
byte objAtt; // in view and right shape and colour
boolean objInterestFound;
byte objInterested; // not the right shape, but right colour on the edge of view
byte wantedColour = 1; // What colour you are looking for

boolean waitACK()
{
  boolean incomeValid = true;
  while(Serial.available() < 4);
  if(Serial.read() != 65)
  {
    incomeValid = false;
  }
  if(Serial.read() != 67)
  {
    incomeValid = false;
  }
  if(Serial.read() != 75)
  {
    incomeValid = false;
  }
  if(Serial.read() != 13)
  {
    incomeValid = false;
  }
  return incomeValid;
}

void getObj()
{
  byte objXMin[8];
  byte objXMax[8];
  byte objYMin[8];
  byte objYMax[8];
  byte waittimeout = 0; 
  byte temp;

  Serial.println("ET");

  while(waitAck() == false)
  {
    Serial.println("ET");
  }

  while((Serial.available() == 0) && (waittimeout != 10))
  {
    delay(1);
    waittimeout++;
  }
 
  if(Serial.available() == 0)
  {
    noObj = true;
    objNum = 0;
    Serial.println("DT");
    while(waitAck() == false)
    {
      Serial.flush();
      Serial.println("DT");
    }
  } else {
    temp = Serial.read(); // useless byte
    while(Serial.available() == 0);
    objNum = Serial.read();
    noObj = false;
  }

  waittimeout = 0;

  if(noObj == false)
  {
    for(temp = 0; temp < objNum; temp++)
    {
      while(Serial.available() == 0);
      objColour[temp] = Serial.read();
      while(Serial.available() == 0);
      objXMin[temp] = Serial.read();
      while(Serial.available() == 0);
      objYMin[temp] = Serial.read();
      while(Serial.available() == 0);
      objXMax[temp] = Serial.read();
      while(Serial.available() == 0);
      objYMax[temp] = Serial.read();
    }
  }
 
  Serial.println("DT");
  delay(100); // there might be some junk left over, wait for finish
  // for robots who need constant servo pulses, replace delay with
  // for loops that sends the pulses for a similar amount of time
  // 100 is only an estimate
  Serial.flush(); // clear buffer
 
  objFound = false;
  objInterestFound = false;
 
  if(noObj == false)
  {
    for(temp = 0; temp < objNum + 1; temp++)
    {
      objWidth[temp] = objXMax[temp] - objXMin[temp];
      objHeight[temp] = objYMax[temp] - objYMin[temp];
      objXCenter[temp] = objXMin[temp] + (objWidth[temp] / 2);
      objYCenter[temp] = objYMin[temp] + (objWidth[temp] / 2);
      objShape[temp] = 0;
      if(similarTo(objWidth[temp], objHeight[temp]))
      {
        objShape[temp] = 1;
      }
      if(objShape[temp] != 1)
      {
        objShape[temp] = 2;
        if(objWidth[temp] > objHeight[temp])
          objShape[temp] = 3;
      }
      objSize[temp] = averageWH(objWidth[temp], objHeight[temp]);
      if(objShape[temp] == 1)
      {
        if(objColour[temp] == wantedColour)
        {
          objAtt = temp;
          objFound = true;
        }
      }
      else {
        if(objColour[temp] == wantedColour)
        {
          objInterested = temp;
          objInterestFound = true;
        }
      }
    }
  }
}
--- End code ---

I think that should do it, it doesn't configure the camera for you though
I am making various changes to the code, the current one might not work
I think you need these functions in another small library of mine


--- Code: ---boolean similarTo(byte varAa, byte varBb) // used to compare length and width of objects to find shape
{
  float varA = varAa;
  float varB = varBb;
  boolean isSimilar = 0;
  if((varA < varB + (varA / 3)) && (varA > varB - (varA / 3)))
  {
    isSimilar = 1;
  }
  if((varB < varA + (varB / 3)) && (varB > varA - (varB / 3)))
  {
    isSimilar = 1;
  }
  return isSimilar;
}

boolean similarTo(int varAa, int varBb) // used to compare length and width of objects to find shape
{
  float varA = varAa;
  float varB = varBb;
  byte divider = 10;
  boolean isSimilar = 0;
  if((varA < varB + (varA / divider)) && (varA > varB - (varA / divider)))
  {
    isSimilar = 1;
  }
  if((varB < varA + (varB / divider)) && (varB > varA - (varB / divider)))
  {
    isSimilar = 1;
  }
  return isSimilar;
}

byte averageWH(byte varAa, byte varBb)
{
  float varA = varAa;
  float varB = varBb;
  byte avgSize;
  varA = (varA + varB) / 2;
  avgSize = varA;
  return avgSize;
}
--- End code ---

A Processing program I made for the computer is attached to this post, it can only do frame dumps, nothing else

Navigation

[0] Message Index

[#] Next page

[*] Previous page