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

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118 Appendix B. Documentation <strong>of</strong> <strong>the</strong> programming // | CAM_PCLK | P3.0 | Ext_Dma_In | // | CAM_VSYNC | P3.2 | EXT_INT_2 | // | CAM_CLK_IN | P3.7 | T1_PWM_OUT | // | CAM_BUS | P9.ALL | GPIO_IN | // | LED_R | P6.0 | GPIO_OUT | // | SW_1234 | P7.0123 | GPIO_IN | // | USB_Dp | P7.5 | GPIO_OUT | // *-------------*-------------*------------* //#define RVS_MB #define STL_MB //#define NO_DEBUG #define PresentationStringConst "STLCam\nV:0.41\nAST-Robotics\nSTMicroelectronics\n" #define TMsg_EOF 0xF0 #define TMsg_BS 0xF1 #define TMsg_BS_EOF 0xF2 #define TMsg_MaxLen 128 #define DEV_ADDR 0x32 #define USB_Dp_PullUp_GPIO GPIO0 #define USB_Dp_PullUp_GPIOx_Pin GPIO_Pin_1 #define Cam724 //IRQ Priority // 0 Highest, 15 Lowest //#define SERVO_TIM_ITPriority 0 //#define x24_DMA_ITPriority 1 //#define x24_VSYNC_INT_ITPriority 2 //#define x24_SYNC_TIM_IPriority 3 #define USB_Priority 5 /* #define MOTOR1_Priority 9 #define MOTOR2_Priority 10 #define MOTOR3_Priority 11 */ #ifdef STL_MB #define LEDR_GPIO GPIO3 #define LEDR_GPIOx_Pin GPIO_Pin_7 #endif #define DE_GPIO GPIO4 #define DE_GPIOx_Pin GPIO_Pin_3 #define x24_VSYNC_GPIO GPIO7 #define x24_VSYNC_GPIOx_Pin GPIO_Pin_7 #define x24_VSYNC_INT_WIU_Line ((u32)WIU_Line31)
B.1. Microprocessor Code 119 #define x24_VSYNC_INT_WIU_Line_N 31 #define x24_VSYNC_INT_ITx_LINE EXTIT3_ITLine #define MY_GPIO GPIO3 #define MY_GPIOx_Pin GPIO_Pin_2 #define MY MY_GPIO->DR[MY_GPIOx_Pin
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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
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4.3. PWM Control 47 acollision, suc
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4.3. PWM Control 49 mentioned previ
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Chapter 5 Vision The vision system
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5.1. Camera Calibration 53 the prin
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5.1. Camera Calibration 55 Figure 5
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5.1. Camera Calibration 57 Later, i
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5.2. Color Definition 59 warmer (ye
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5.2. Color Definition 61 Anotheraut
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5.2. Color Definition 63 9000 8000
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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 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: B.1. Microprocessor Code 117 } * (B
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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