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

68 Chapter 6. Game
rect target is found, we calculate the distance of the object from the robot.
According to the distance found, the motor contributions are calculated and
the robot starts going to the target.
We introduced two different camera head positions. At the start the
camera is always set at the normal position (which can see the environment
from 750 mm from the robot up to 4-5 meters). According to the result
of the distance calculated at the previous step, the camera head position
maybe be lowered in order to detect and go to the target in the next step.
The target is set as acquired when the distance between the robot and the
target is below a certain threshold. The whole algorithm we can be seen in
Appendix A A.2 in a clear way.
The software that is running the robot is working on-board, on the microcontroller.
The software is divided into sub-modules in order to ease
the development of the process. In this section, we will give the details of
the software, introducing the sub-modules, supporting with the diagrams.
The software is composed of low-level and high-level modules. The lowlevel
modules are the assembly code that is coming with the ST tool-chain,
which already defines the registers, memory mappings, all the communications
with the chips. We did not concentrate on the assembly code; all the
written software implements the high level part.
ThedevelopmentmainlyfocusedonthegenerationofPWMusingtimers,
initialization of components, algorithms and utilities. Like all the microcontroller
programs the core runs in the main loop. Before entering the main
loop we initialize all the components first. Initialization is made step by
step as follows:
• Configure the system clocks
• Configure the GPIO ports
• Configure x24 Camera
• Configure the USB
• Initialize camera parameters
• Initialize motors
• Set initial camera position