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

• Initialize sensors
• Initialize the blob search and color parameters
In order to initialize the camera, the RGB Cubewhich contains the color
information and BlobSearch are initialized. We also set the automatic white
balance to off and exposure control to direct manual mode. The appropriate
parameters for the image format, frame rate, sensor mode and clock are set
for the blob search at this point.
Thesecondstepisinitialization ofthemotors. Thecorrespondingpinsin
the microcontroller for the motors are set to control the direction of motors
and PWM generation. The PWM generation is made by using the timers
were available in the microcontroller. Output compare mode of the timers
usedinordertocreate thePWMneededtorunthemotors. Outputcompare
function is used to control the output waveform and indicate when a period
of time has elapsed. When a match is found between the output compare
register and the counter, the output compare function:
• Assigns a value to pins
• Sets a flag in the status register
• Generates an interrupt
Using the described output comparison, we created the desired PWM
wave to run the motors and camera servo.
The sensors, which are the bumpers for the current state of the robot,
are initialized by setting the corresponding pins in the microcontroller.
As a final step in the initialization, the blob search and color parameters
are set. The blob search parameters, which are grid size, top, bottom,
left and right borders of the image are defined. Similarly the blob search
geometry options are defined, which are the color id, minimum-maximum
area of the blob, minimum-maximum circularity of the blob and minimummaximum
perimeter of the blob. For each color, the blob search geometry
options should be defined separately with the proper coding.
Lastly, the color information should be defined for each color we are
searching. The color information is calculated either by the ST color picker
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