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POLITECNICO DI MILANO Corso di Laur
- Page 5: To my family...
- Page 9: Summary Aim of this project is the
- Page 13 and 14: Contents Sommario I Summary III Tha
- Page 15 and 16: List of Figures 2.1 The standard wh
- Page 17 and 18: Chapter 1 Introduction 1.1 Goals Th
- Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
- Page 21 and 22: Chapter 2 State of the Art Advances
- Page 23 and 24: 2.1. Locomotion 7 provides low resi
- Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
- Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
- Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
- Page 31 and 32: 2.4. Games and Interaction 15 a 2.5
- Page 33 and 34: 2.4. Games and Interaction 17 We in
- Page 35 and 36: 2.4. Games and Interaction 19 lot o
- Page 37 and 38: Chapter 3 Mechanical Construction W
- Page 39 and 40: 3.2. Motors 23 The initial design o
- Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
- Page 43 and 44: 3.3. Wheels 27 target surface, maxi
- Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
- Page 47 and 48: 3.6. Batteries 31 itself also works
- Page 49 and 50: 3.7. Hardware Architecture 33 In sh
- Page 51 and 52: 3.7. Hardware Architecture 35 The s
- Page 53: 3.7. Hardware Architecture 37 With
- Page 57 and 58: 4.1. Wheel configuration 41 Figure
- Page 59 and 60: 4.2. Matlab Script 43 This is case
- Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
- Page 63 and 64: 4.3. PWM Control 47 acollision, suc
- Page 65 and 66: 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
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B.1. Microprocessor Code 89 #ifdef
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B.1. Microprocessor Code 91 Set_Spe
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B.1. Microprocessor Code 93 TIM_DeI
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B.1. Microprocessor Code 95 /* Expo
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B.1. Microprocessor Code 97 RGBCube
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B.1. Microprocessor Code 99 /* Incl
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B.1. Microprocessor Code 101 #endif
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B.1. Microprocessor Code 103 } void
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B.1. Microprocessor Code 105 GPIO_I
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B.1. Microprocessor Code 107 /* Sta
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B.1. Microprocessor Code 109 } Inve
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B.1. Microprocessor Code 111 #inclu
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B.1. Microprocessor Code 113 /* * M
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B.1. Microprocessor Code 115 b[1] =
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B.1. Microprocessor Code 117 } * (B
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B.1. Microprocessor Code 119 #defin
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B.2. Color Histogram Calculator 121
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B.3. Object’s Position Calculator
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B.3. Object’s Position Calculator
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B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
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C.2. Setting up the environment (Qt
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C.3. Main Software - Game software
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Appendix D Datasheet The pin mappin
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Figure D.2: The schematics for the