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

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138 Appendix C. User Manual C.2 Setting up the environment (Qt SDK Opensource) Downloadthe2009.04versionoftheQtSDKfromhere: ftp://ftp.qt.nokia.com/qtsdk/qtsdk-win-opensource-2009.04.exe Do not download the last version, at the moment our software works only with Qt 4.5.x. Run the executable that will install on your pc the Qt Framework 4.5.3 and the Qt Creator IDE. Unzip the archive ”STRVS-Serial Executable.zip“ in a directory of your choice. If you receive the following error (Figure C.4) while trying to launch the ”STRVS-Serial 046.exe“, place the executable file in the installed directory of the Qt Framework and launch from that location. FigureC.4: Theerrorthat canbe causedifQtlibrariesnotfound. Tosolvethe problem, place the executable file under Qt libraries folder. From the ”Windows Device Manager“ under ”Ports(COM & LPT)“ find the ”STM Virtual COM Port“ and check port number. In the example it is ”COM4“ (Figure C.5). Use this information in the software. In the following order, we first ”Open“ the port. Then ”Start Camera“ with the ”BlobSearch“ option. Then ”Get Image“ to check the camera started correctly. ”Continuous“ should be selected if we can to see the image as a video stream (Figure C.6). Since there is no mechanism to save the pictures, we capture the pictures by taking a ”snapshot“ in the windows. The important point in capturing the images is to set ”Zoom“ parameters to ”%100“ in order not to change the resolution of 160x120. The images should be cut also at the orginal resolution (160x120) from the ”snapshot“ images to achieve the correct values. The matlab script ”color calculator“ that can be found at Appendix B.1, is used to calculate the color histogram of the demanded object. It is advised to take as many samples as you can, with different distances to robot and with different illumination to have better histogram.
C.2. Setting up the environment (Qt SDK Opensource) 139 Figure C.5: The drivers can be validated from Device Manager To test the color foundwith ”color calculator” the following steps should be followed. From the tabs at the top, ”BlobSearch“ should be selected. Inside ”BlobSearch“ tab, color class number should be set accordingly with the number of the color we want to control (Figure C.7). Under the ”Blob Color“ tab, ”Visual Rule Editor“ should be checked to control the color. The color code defined with inside the ”main software“ for the thesis (will be explained in details in a few steps) could be tested at that tab, by adding the color codes to the ”Rules List“ that can be found on the lower right bottom of the software. When the color information is ready, it should be captured by clicking the ”Get from Visual Rule Editor“ in the ”Custom“ menu. The next step is setting the ”Blob Geometry“ that defines the size of the color we are searching for. After finishing these steps, we should deselecting the ”Visual Rule Editor“ and ”Save settings“. In order to test the whole process, we should select ”continuous“ and click ”Get Blobs“. The selected color will be
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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.
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Chapter 6 Game The robot will be us
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• Initialize sensors • Initiali
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If the camera is set to SERVO MID,
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Chapter 7 Conclusions and Future Wo
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ior, which will be useful in the re
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Bibliography [1] Battle bots-http:/
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BIBLIOGRAPHY 79 [25] Han et al. A n
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Appendix A Documentation of the pro
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Figure A.2: The flow diagram of the
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Appendix B Documentation of the pro
Page 103 and 104: B.1. Microprocessor Code 87 /* Conf
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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 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
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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: C.1. Tool-chain Software 137 Figure
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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