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

120 Appendix B. Documentation of the programming
#define MOTOR3_DIRECTION_B GPIO_Pin_7
//bumper pins
#define BUMPER1 GPIO5
#define BUMPER2 GPIO0
#define BUMPER3 GPIO4
#define BUMPER_FRONT_LEFT GPIO_Pin_2 //5.2
#define BUMPER_FRONT_RIGHT GPIO_Pin_0 //4.0
#define BUMPER_BACK_LEFT GPIO_Pin_7 //1.7
#define BUMPER_BACK_RIGHT GPIO_Pin_1 //4.1
#define BUMPER_RIGHT GPIO_Pin_3 //5.5
#define BUMPER_LEFT GPIO_Pin_0 //1.0
#define LEFT 1
#define RIGHT 0
#define CLOSE 8
#define NORMAL 4
#define FAR 2
#endif
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/
B.2 Color Histogram Calculator
————–color calculator.m——————
%% data structure to keep images
R = [];
G = [];
B = [];
%% the sample images should be read 1−by−1
im = imread( ’table3 .png ’ );
fprintf( ’done \t ’ );
%% the part containing the object should be selected
[sub] = imcrop(im(: ,: ,1:3));
imshow(sub);
subR = double(sub (: ,: ,1));
subG = double(sub (: ,: ,2));
subB = double(sub (: ,: ,3));