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Originally Posted by 6600gt
Don't you need the operator interface connected to run the robot controller.
I think its a safety feature in case of radio loss. Thats probably what it thinks...
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Yes, you do need the OI connected somehow, radio or tether. However, the program keeps running once it is started, despite radio failiure. The outputs are shut off, but your code will keep executing, and you will keep seeing serial output (if it is programmed to do so).
As for this:
printf("IFI 2006 User Processor Initialized ...\r"); /* Optional - Print initialization message. */
That line doesn't execute in Kevin's latest camera code. That entire section is commented out, if my memory serves me well. You will get an "IFI>" line back, and I believe that this is the "initialized" message from the camera code. I get it every time I turn on power to the RC, so I don't think it can be a corrupt message or an error. If the CMUcam is working, you will get "Searching..." messages and the contents of the "T" (tracking) packets back from the camera (blob size, confidence, etc.).
If the camera tilts down, there could be a lot of things wrong. First, I've noticed that the cam is sensitive to ground changes. If I discharge static to the chassis of the 'bot, the servos twitch, and stay there. It appears that the servos only move when the output changes, but they "drift" if there is no change in the output...I haven't found a way to counter this yet. Also, this might be due to the servos being plugged into the wrong outputs. Kevin's camera code uses the RC's PWM output 1 for pan, 2 for tilt (I think). Don't plug the servos into the CMUcam's servo outputs. They aren't used here. I'm not sure what else could be wrong, but if you do come across another problem, you can post back here and we'll try our hardest to help.
Good luck, and gosh that was a long post...
JBotAlan