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

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140 Appendix C. User Manual Figure C.6: The main screen of the ST’s software represented according to the parameters defined under the ”Visualization“ tabs (Figure C.7). C.3 Main Software - Game software The project should be imported to the Eclipse in the same way with the ST’s software. The color information and the blob geometry parameters are found under the source-Camera Init.c . The function that contains these
C.3. Main Software - Game software 141 Figure C.7: The second step at importing Launch Configurations information are placed in the Init BlobParameters function. BlobSearchSet- ColParam(u8 IDCol, u16MinPer, u16MaxPer, u16MinArea, u16MaxArea, u8 MinCirc, u8 MaxCirc) taking the parameters defined, should be updated with the values found in the previous step, with ST’s software. ”IDCol“ is the color class defined and it is be the same also with the corresponding RGBCube AddCube(u8 RMin, u8 RMax, u8 GMin, u8 GMax, u8 BMin, u8 BMax, u8 IDCol); and RGBCube SubCube(u8 RMin, u8 RMax, u8 GMin, u8 GMax, u8 BMin, u8 BMax, u8 IDCol); functions that defines the color coding. The values that are tested with ST’s software should be updated in RGBCube AddCube and RGBCube SubCube functions.
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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
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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
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: C.2. Setting up the environment (Qt
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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