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Re: Running the Kinect on the Robot.
The classmate on the robot as an interface between the Kinect and the cRIO seems the best option to me. It has all of the interfaces and a full version of S/W that can communicate "processed" information to the cRIO. For example, although it may be slow, the vision processing S/W supplied in the FRC examples could run on the classmate and then just provide "pointing" information to the cRIO.
Since the CRIO already has packet processing utilities to communicate with the classmate (as a driver station), they could also be used to send the "pointing" information. Then the cRIO simply reads that information and controls the motors as needed.
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