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Unread 14-01-2005, 10:13
Mr. Lim Mr. Lim is offline
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CMUCam2 Camera Code - Are important parts commented out?

Here's were Team188 is at in terms of the camera:

1) Enclosure is built
2) Mounted on Servo
3) Assembly mounted on last year's robot (Blizzard 5) - 36" off the ground
4) Calibrated for Yellow, Green and Red successfully
5) Successful "Colour Tracking" for the three calibrated colours through the CMUCam2 Java GUI using DB-9 serial cable (i.e. the camera discriminates the coloured target from the background with a nice tight bounding box, and can successfully return its midpoint coordinates)
6) Loaded the supplied CMUCam2 rev 3 FRC code onto last year's robot
7) Connected the FRC controller to the camera via TTL port and supplied TTL to RS232 adapter
8) Successful camera initialization
9) Successful camera tracking and servoing (camera pans to point directly at the coloured target and will follow it if either target or robot is moved - BTW green seems to work better than yellow or red by A LOT)

NOW here's the problem:

The supplied CMUCam2 code is SUPPOSED to also get the robot to navigate towards the coloured target out of the box.

It doesn't seem to want to for us.

Open user_routines_DDT.c -> Default_Routine()
Code:
if (p1_sw_trig > 0 && tracking > 0) { //If vision active and tracking use camera data
	p1_y = speed_control;	//set forward speed
	p1_x = pan_position;	//set turning rate
	p1_x = 255 - p1_x;		//invert turn direction
// Steering Compensation
		if (p1_x > 135 && p1_x < 225 && steering_comp > 0)
			p1_x = p1_x + steering_comp;
		if (p1_x < 120 && p1_x > steering_comp && steering_comp > 0)
			p1_x = p1_x - steering_comp;
	pwm11 = Limit_Mix(2000 + p1_y + p1_x - 127);
	pwm12 = Limit_Mix(2000 + p1_y - p1_x + 127);
}
Straightforward. Hit the trigger, robot goes. But no go.

First problem: I don't think speed_control is ever assigned a value. It's declared in user_routines_DDT.c at the top.
Code:
unsigned int speed_control;
And the ONLY place where it shows up is in Default_Routine()
Code:
	p1_y = speed_control;	//set forward speed
Please someone let me know if I'm hallucinating, or missing something, because I wouldn't be too crazy about my robot going full speed backwards.

Second problem: tracking and pan_position are presumably defined by our camera handling routines. They technically ARE, but the entire code portion that does this is COMMENTED OUT?

Open user_routines_fast_DDT.c -> process_vision()
Code:
pan_position = 0;
for (i = 0; i <j; i++) { // Begin 'pan_position' conversion loop
	if (i==0) {
		transit_char = char_buffer[begin_x+i]; 						// convert character in one's place
		pan_position = (transit_char - 48) * 100;						// copy to 'pan_position'
	}
	if (i==1) {
		transit_char = char_buffer[begin_x+i];						// convert character in ten's place
		pan_position = pan_position + (transit_char - 48) * 10;			// add to 'pan_position'
	}
	if (i==2 ) {
		transit_char = char_buffer[begin_x+i];						// convert character in hundred's place
		pan_position=pan_position + (transit_char-48);				// add to 'pan_position'
	}
}// End 'pan_position' conversion loop

if (j < 3) {
	pan_position = pan_position / 10;
	j = 0;
}
Code:
transit_char = char_buffer[1];										// get trracking flag from camera
if (transit_char > 48)												//Check to see if camera is tracking
	tracking = 1;													// if yes then set 'tracking' flag
else
	tracking = 0;													// if not then clear 'tracking' flag
Okay, it's THERE, but why is the entire process_vision() function commented out? Is there another handler somewhere in another file I'm missing?

In fact, even the call to process_vision() is commented out in Process_Data_From_Local_IO()
Code:
*/
/*********************
**  VISION CONTROL  **
**********************/
/*	int i;
if (p1_sw_trig > 0){
	if(data_rdy==1)
		process_vision();
	}
*/
Also, by simply uncommenting them, we haven't been able to get it to work. I didn't think it would anyways.

It could be that I'm simply missing all the REAL camera handlers in another file somewhere, and that all these commented out ones are superfluous. But needless to say, right now I'm CONFUSED, and could use a bit of guidance!

Help!

-SlimBoJones...
 


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