Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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98 Appendix B. Documentation of the programming u8 Framerate , u8 SensorMode, u8 HalfSysClock, u8 JpegCompr , u8 JpegDerat) { Tx24_InitTypeDef x24_InitStruct; /* Initialize the x24 module */ x24_StructInit(&x24_InitStruct); x24_InitStruct.SensorMode = SensorMode; x24_InitStruct.DesiredFrameRate_Num = Framerate * 250; x24_InitStruct.DesiredFrameRate_Den = 250; x24_InitStruct.ExtClockFreqMhz_Num = 8; x24_InitStruct.ExtClockFreqMhz_Den = 1; x24_InitStruct.JPEGClockDerate = JpegDerat; x24_InitStruct.SyncEnabled = 0; x24_InitStruct.ImageWidth = Width; x24_InitStruct.ImageHeight = Height; x24_InitStruct.ImageFormat = ImgFormat; // x24_ImageFormat_RGB_565 x24_ImageF x24_InitStruct.JPEGSqueezeValue = JpegCompr; // use 100 [800x600], 150 [1024x x24_InitStruct.SysClock = HalfSysClock * 2.0; // 35MHz; Range: [35:270] MHz 320*240@10Hz RGB_565 } x24_InitStruct.MemBlocksNum = 2; x24_InitStruct.ImgBlocksNum = 1; x24_InitStruct.ImgBlockSize = BufferSize; x24_InitStruct.pDataMemory = pImgBufferData; x24_InitStruct.ExposureCompensation = x24_biExposureCompensation; x24_Init(&x24_InitStruct); Job[0].pNext = &Job[1]; Job[1].pNext = &Job[0]; CurrentJob = 0; x24_GrabFrameStart(&Job[0]); ————–Motor Init.h.—————— /* * Motor_Init.h * * Created on: Jan 19, 2011 * Author: Administrator */ #ifndef MOTOR_INIT_H_ #define MOTOR_INIT_H_
B.1. Microprocessor Code 99 /* Includes ------------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/ /* Module private variables --------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/ /* Private functions ---------------------------------------------------------*/ /* Exported functions ------------------------------------------------------- */ void Init_Motors(void); void Calculate_Order(s16* speed, u8 size); void Position_Camera(u8 position); void Set_Directions(u8 Motor1, u8 Motor2, u8 Motor3); void Stop_Motor(u8 Motor); void Bumpers(u8 bumper[6]); void Set_Speed(s16* speed, u8 mod); void Stop_Servo(void); void Turn(u8 direction); #endif /* MOTOR_INIT_H_ */ ————–Motor Init.c.—————— /* Standard include ----------------------------------------------------------*/ #include "91x_map.h" #include "utils.h" #include "definitions.h" #include "definitionsLib.h" #include "CamInt_x24.h" #include "usb_lib.h" #include "usb_conf.h" #include "usb_prop.h" #include "usb_pwr.h" #include "usb_config.h" #include "math.h" #include "Motor_Init.h" /* Include of other module interface headers ---------------------------------*/ /* Local includes ------------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ u8 control_hit; u8 servo_position = 0; u8 servo_flag = 0; u8 motor1_speed;
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POLITECNICO DI MILANO Corso di Laur
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To my family...
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Summary Aim of this project is the
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Contents Sommario I Summary III Tha
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List of Figures 2.1 The standard wh
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Chapter 1 Introduction 1.1 Goals Th
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1.4. Thesis Structure 3 tailed desc
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Chapter 2 State of the Art Advances
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2.1. Locomotion 7 provides low resi
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2.1. Locomotion 9 Figure 2.4: Diffe
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2.1. Locomotion 11 Omnidirectional
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2.2. Motion Models 13 2.2 Motion Mo
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2.4. Games and Interaction 15 a 2.5
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2.4. Games and Interaction 17 We in
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2.4. Games and Interaction 19 lot o
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Chapter 3 Mechanical Construction W
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3.2. Motors 23 The initial design o
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3.2. Motors 25 Figure 3.3: The calc
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3.3. Wheels 27 target surface, maxi
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3.5. Bumpers 29 Figure 3.8: Three w
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3.6. Batteries 31 itself also works
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3.7. Hardware Architecture 33 In sh
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3.7. Hardware Architecture 35 The s
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3.7. Hardware Architecture 37 With
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Chapter 4 Control The motion mechan
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4.1. Wheel configuration 41 Figure
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4.2. Matlab Script 43 This is case
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4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
Page 69 and 70: 5.1. Camera Calibration 53 the prin
Page 71 and 72: 5.1. Camera Calibration 55 Figure 5
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
Page 83 and 84: Chapter 6 Game The robot will be us
Page 85 and 86: • Initialize sensors • Initiali
Page 87 and 88: If the camera is set to SERVO MID,
Page 89 and 90: Chapter 7 Conclusions and Future Wo
Page 91 and 92: ior, which will be useful in the re
Page 93 and 94: Bibliography [1] Battle bots-http:/
Page 95 and 96: BIBLIOGRAPHY 79 [25] Han et al. A n
Page 97 and 98: Appendix A Documentation of the pro
Page 99 and 100: Figure A.2: The flow diagram of the
Page 101 and 102: Appendix B Documentation of the pro
Page 103 and 104: B.1. Microprocessor Code 87 /* Conf
Page 105 and 106: B.1. Microprocessor Code 89 #ifdef
Page 107 and 108: B.1. Microprocessor Code 91 Set_Spe
Page 109 and 110: B.1. Microprocessor Code 93 TIM_DeI
Page 111 and 112: B.1. Microprocessor Code 95 /* Expo
Page 113: B.1. Microprocessor Code 97 RGBCube
Page 117 and 118: B.1. Microprocessor Code 101 #endif
Page 119 and 120: B.1. Microprocessor Code 103 } void
Page 121 and 122: B.1. Microprocessor Code 105 GPIO_I
Page 123 and 124: B.1. Microprocessor Code 107 /* Sta
Page 125 and 126: B.1. Microprocessor Code 109 } Inve
Page 127 and 128: B.1. Microprocessor Code 111 #inclu
Page 129 and 130: B.1. Microprocessor Code 113 /* * M
Page 131 and 132: B.1. Microprocessor Code 115 b[1] =
Page 133 and 134: B.1. Microprocessor Code 117 } * (B
Page 135 and 136: B.1. Microprocessor Code 119 #defin
Page 137 and 138: B.2. Color Histogram Calculator 121
Page 139 and 140: B.3. Object’s Position Calculator
Page 141 and 142: B.3. Object’s Position Calculator
Page 143 and 144: B.4. Motion Simulator 127 0 0 0 0 0
Page 145 and 146: B.4. Motion Simulator 129 if (plot
Page 147 and 148: B.4. Motion Simulator 131 fill (m a
Page 149 and 150: B.4. Motion Simulator 133 end text(
Page 151 and 152: Appendix C User Manual This documen
Page 153 and 154: C.1. Tool-chain Software 137 Figure
Page 155 and 156: C.2. Setting up the environment (Qt
Page 157 and 158: C.3. Main Software - Game software
Page 159 and 160: Appendix D Datasheet The pin mappin
Page 161 and 162: Figure D.2: The schematics for the
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