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

If the camera is set to SERVO MID, the position of the target is calculated
with ’CalculatePositionGround’ function. The motor contributions
are calculated using ’Triskar’ function, and the motor speeds from ’Triskar’
are set with multiplier CLOSE. If the distance of the robot to target is less
than 300 mm, the target is marked as acquired by setting ’color done =
TRUE’.
The detection of target acquired and game-over is done by controlling
’color done’ on every loop. When the ’color done’ is set as ’TRUE’, the
camera head position is set to SERVO TOP, ’color done’ and ’blob found’
are flagged as ’FALSE’, and color is incremented by 1. Since the current
configuration is working with 2 colors, the case where ’color > 2’ is controlled
for the game-over case. For that case, we introduced a variable as
’reply counter’, which sets the number of replies/rounds to end the game.
In the code, this variable is set as 5, that made the game to find and go to
the targets 5 times, in the same color order defined. The work flow in the
main loop is shown in Appendix A.2.
The class diagram that is showing the relation between the modules
is reported in Appendix A A.1. We increased the modularity of the program
by separating the code to improve reuse; breaking a large system into
modules, makes the system easier to understand. By understanding the behaviors
contained within a module, and the dependencies that exist between
modules, it’s easier to identify and assess the ramification of change. We
used the naming convention Init for initialization classes, functions. The
algorithm are implemented inside the Motion and Vision classes. The motion
algorithm is implemented by porting the software simulator previously
written to the microcontroller. The vision algorithms are also implemented
in a similar manner. The camera calibration calculating the position of the
object was previously implemented in a Matlab script. Later, the script has
been ported to the microcontroller.
The rest of the implementation not mentioned above, focuses on pin
assignments (in Appendix D.3), definitions of the constants, creation of the
header files.
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