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

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102 Appendix B. Documentation <strong>of</strong> <strong>the</strong> programming } GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR2_DIRECTION_B , Bit_SET); } if (Motor1 == FORWARD) { GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR1_DIRECTION_A , Bit_SET); GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR1_DIRECTION_B , Bit_RESET); } else { GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR1_DIRECTION_A , Bit_RESET); GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR1_DIRECTION_B , Bit_SET); } if (Motor3 == FORWARD) { GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR3_DIRECTION_A , Bit_SET); GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR3_DIRECTION_B , Bit_RESET); } else { GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR3_DIRECTION_A , Bit_RESET); GPIO_WriteBit(MOTOR_DIRECTION_GPIO , MOTOR3_DIRECTION_B , Bit_SET); } void Calculate_Order(s16* speed, u8 size) { u8 pass = 1; u8 sorted = 0; u8 i; while ((!sorted) && (pass < size)) { sorted = 1; for (i = 0; i < size - pass; i++) { if (speed[i] > speed[i + 1]) { int temp = speed[i]; speed[i] = speed[i + 1]; speed[i + 1] = temp; sorted = 0; } } pass++; } } void Stop_Servo() { servo_flag = STOP_SERVO;
B.1. Microprocessor Code 103 } void Init_Motors() { GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; GPIO_InitStructure.GPIO_Pin = MOTOR1_Pin | MOTOR2_Pin | MOTOR3_Pin; GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; GPIO_Init(MOTOR_GPIO, &GPIO_InitStructure); /* Config Servo PIN */ GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; GPIO_InitStructure.GPIO_Pin = SERVO_Pin; GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; GPIO_Init(SERVO_GPIO, &GPIO_InitStructure); GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; GPIO_InitStructure.GPIO_Pin = MOTOR1_DIRECTION_A | MOTOR1_DIRECTION_B | MOTOR2_DIRECTION_A | MOTOR2_DIRECTION_B | MOTOR3_DIRECTION_A | MOTOR3_DIRECTION_B; GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; GPIO_Init(MOTOR_DIRECTION_GPIO , &GPIO_InitStructure); TIM_InitTypeDef TIM_InitStructure; TIM_StructInit(&TIM_InitStructure); TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; //for both use 12 TIM_InitStructure.TIM_OC1_Modes = TIM_TIMING; TIM_InitStructure.TIM_OC2_Modes = TIM_TIMING; TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; TIM_InitStructure.TIM_Prescaler = 47; //127 TIM_InitStructure.TIM_Pulse_Length_1 = 50; TIM_InitStructure.TIM_Pulse_Length_2 = 200; TIM_InitStructure.TIM_Pulse_Level_1 = TIM_HIGH; TIM_InitStructure.TIM_Pulse_Level_2 = TIM_HIGH; TIM_InitStructure.TIM_Period_Level = TIM_LOW; TIM_Init(TIM0, &TIM_InitStructure); TIM_Init(TIM1, &TIM_InitStructure); TIM_Init(TIM3, &TIM_InitStructure);
Page 1:
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
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4.3. PWM Control 47 acollision, suc
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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 and 114: B.1. Microprocessor Code 97 RGBCube
Page 115 and 116: B.1. Microprocessor Code 99 /* Incl
Page 117: B.1. Microprocessor Code 101 #endif
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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