2006 CMUcam2 Code

[aaeamdar]

user_routines seems to be the largest so anticipating a request for it here it is:

/*******************************************************************************
* FILE NAME: user_routines.c <FRC VERSION>
*
* DESCRIPTION:
*  This file contains the default mappings of inputs  
*  (like switches, joysticks, and buttons) to outputs on the RC.  
*
* USAGE:
*  You can either modify this file to fit your needs, or remove it from your 
*  project and replace it with a modified copy. 
*
*******************************************************************************/

#include <stdio.h>
#include <math.h>

#include "ifi_aliases.h"
#include "ifi_default.h"
#include "ifi_utilities.h"
#include "user_routines.h"
#ifndef _CAMERA
#endif
#ifdef _CAMERA
#include "camera.h"
#include "serial_ports.h"
#endif
#define round(x) (     (int)((x < 127) * (x - .5) + (x > 127) * (x + .5))     )


extern unsigned char aBreakerWasTripped;
extern T_Packet_Data_Type camera;
unsigned char lookTable [255];
unsigned char c = 0;

/*** DEFINE USER VARIABLES AND INITIALIZE THEM HERE ***/
/* EXAMPLES: (see MPLAB C18 User's Guide, p.9 for all types)
unsigned char wheel_revolutions = 0; (can vary from 0 to 255)
unsigned int  delay_count = 7;       (can vary from 0 to 65,535)
int           angle_deviation = 142; (can vary from -32,768 to 32,767)
unsigned long very_big_counter = 0;  (can vary from 0 to 4,294,967,295) 32-bit storage, PAUL D
*/

/*******************************************************************************
* FUNCTION NAME: Limit_Switch_Max
* PURPOSE:       Sets a PWM value to neutral (127) if it exceeds 127 and the
*                limit switch is on.
* CALLED FROM:   this file
* ARGUMENTS:     
*     Argument       Type             IO   Description
*     --------       -------------    --   -----------
*     switch_state   unsigned char    I    limit switch state
*     *input_value   pointer           O   points to PWM byte value to be limited
* RETURNS:       void
*******************************************************************************/
void Limit_Switch_Max(unsigned char switch_state, unsigned char *input_value)
{
  if (switch_state == CLOSED)
  { 
    if(*input_value > 127)
      *input_value = 127;
  }
}


/*******************************************************************************
* FUNCTION NAME: Limit_Switch_Min
* PURPOSE:       Sets a PWM value to neutral (127) if it's less than 127 and the
*                limit switch is on.
* CALLED FROM:   this file
* ARGUMENTS:     
*     Argument       Type             IO   Description
*     --------       -------------    --   -----------
*     switch_state   unsigned char    I    limit switch state
*     *input_value   pointer           O   points to PWM byte value to be limited
* RETURNS:       void
*******************************************************************************/
void Limit_Switch_Min(unsigned char switch_state, unsigned char *input_value)
{
  if (switch_state == CLOSED)
  { 
    if(*input_value < 127)
      *input_value = 127;
  }
}


/*******************************************************************************
* FUNCTION NAME: Limit_Mix
* PURPOSE:       Limits the mixed value for one joystick drive.
* CALLED FROM:   Default_Routine, this file
* ARGUMENTS:     
*     Argument             Type    IO   Description
*     --------             ----    --   -----------
*     intermediate_value    int    I    
* RETURNS:       unsigned char
*******************************************************************************/
unsigned char Limit_Mix (int intermediate_value)
{
  static int limited_value;
  
  if (intermediate_value < 2000)
  {
    limited_value = 2000;
  }
  else if (intermediate_value > 2254)
  {
    limited_value = 2254;
  }
  else
  {
    limited_value = intermediate_value;
  }
  return (unsigned char) (limited_value - 2000);
}


/*******************************************************************************
* FUNCTION NAME: User_Initialization
* PURPOSE:       This routine is called first (and only once) in the Main function.  
*                You may modify and add to this function.
* CALLED FROM:   main.c
* ARGUMENTS:     none
* RETURNS:       void
*******************************************************************************/
void User_Initialization (void)
{
  Set_Number_of_Analog_Channels(SIXTEEN_ANALOG);    /* DO NOT CHANGE! */

/* FIRST: Set up the I/O pins you want to use as digital INPUTS. */
  digital_io_01 = digital_io_02 = digital_io_03 = digital_io_04 = INPUT;
  digital_io_05 = digital_io_06 = digital_io_07 = digital_io_08 = INPUT;
  digital_io_09 = digital_io_10 = digital_io_11 = digital_io_12 = INPUT;
  digital_io_13 = digital_io_14 = digital_io_15 = digital_io_16 = INPUT;
  digital_io_18 = INPUT;  /* Used for pneumatic pressure switch. */
    /* 
     Note: digital_io_01 = digital_io_02 = ... digital_io_04 = INPUT; 
           is the same as the following:

           digital_io_01 = INPUT;
           digital_io_02 = INPUT;
           ...
           digital_io_04 = INPUT;
    */
#ifdef _CAMERA
#ifdef TERMINAL_SERIAL_PORT_1    
  stdout_serial_port = SERIAL_PORT_ONE;
#endif

#ifdef TERMINAL_SERIAL_PORT_2    
  stdout_serial_port = SERIAL_PORT_TWO;
#endif
#endif

/* SECOND: Set up the I/O pins you want to use as digital OUTPUTS. */
  digital_io_17 = OUTPUT;    /* Example - Not used in Default Code. */

/* THIRD: Initialize the values on the digital outputs. */
  rc_dig_out17 = 0;

/* FOURTH: Set your initial PWM values.  Neutral is 127. */
  pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
  pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;

/* FIFTH: Set your PWM output types for PWM OUTPUTS 13-16.
  /*   Choose from these parameters for PWM 13-16 respectively:               */
  /*     IFI_PWM  - Standard IFI PWM output generated with Generate_Pwms(...) */
  /*     USER_CCP - User can use PWM pin as digital I/O or CCP pin.           */
  Setup_PWM_Output_Type(IFI_PWM,IFI_PWM,IFI_PWM,IFI_PWM);

  /* 
     Example: The following would generate a 40KHz PWM with a 50% duty cycle on the CCP2 pin:

         CCP2CON = 0x3C;
         PR2 = 0xF9;
         CCPR2L = 0x7F;
         T2CON = 0;
         T2CONbits.TMR2ON = 1;

         Setup_PWM_Output_Type(USER_CCP,IFI_PWM,IFI_PWM,IFI_PWM);
  */

  /* Add any other initialization code here. */
#ifdef _CAMERA
  Init_Serial_Port_Two();

#define stdout_serial_port SERIAL_PORT_ONE
  Track_Color(GREEN);
#endif
for (c = 0; c < STOP; c++)
{
	lookTable[c] = 254 - round(   (pow(   (c-STOP)/STOP, GENTLE_EXP   ) + STOP)   	);
}
for (c = STOP; c < 255; c++)
{
	lookTable[c] = round(   (pow(   (c-STOP)/STOP, GENTLE_EXP   ) + STOP)   	);
}

  Putdata(&txdata);             /* DO NOT CHANGE! */

  #ifndef _CAMERA
  Serial_Driver_Initialize();
  #endif

  printf("IFI 2006 User Processor Initialized ...\r");  /* Optional - Print initialization message. */

  User_Proc_Is_Ready();         /* DO NOT CHANGE! - last line of User_Initialization */
}

/*******************************************************************************
* FUNCTION NAME: Process_Data_From_Master_uP
* PURPOSE:       Executes every 26.2ms when it gets new data from the master 
*                microprocessor.
* CALLED FROM:   main.c
* ARGUMENTS:     none
* RETURNS:       void
*******************************************************************************/
static unsigned char COUNTERFORDISPLAY;
void Process_Data_From_Master_uP(void)
{
  static unsigned char i;

  Getdata(&rxdata);   /* Get fresh data from the master microprocessor. */

  Default_Routine();  /* Optional.  See below. */

  /* Add your own code here. (a printf will not be displayed when connected to the breaker panel unless a Y cable is used) */
 COUNTERFORDISPLAY++;
 if(COUNTERFORDISPLAY>=38)
  {
  	COUNTERFORDISPLAY=0;
  	printf("Port1 Y %3d, X %3d, Fire %d, Top %d\r",pwm01,pwm05,p1_sw_trig,p1_sw_top);  /* printf EXAMPLE */
  	printf("Port2 Y %3d, X %3d, Fire %d, Top %d\r",pwm02,pwm06,p2_sw_trig,p2_sw_top);  /* printf EXAMPLE */
  }

  Generate_Pwms(pwm13,pwm14,pwm15,pwm16);

  /* Example code to check if a breaker was ever tripped. */
#ifndef _CAMERA
  if (aBreakerWasTripped)
  {
    for (i=1;i<29;i++)
    {
      if (Breaker_Tripped(i))
        User_Byte1 = i;  /* Update the last breaker tripped on User_Byte1 (to demonstrate the use of a user byte) 
                            Normally, you do something else if a breaker got tripped (ex: limit a PWM output)     */
    }
  }
#endif

#ifdef _CAMERA
Camera_Handler();
Servo_Track();
#endif

  Putdata(&txdata);             /* DO NOT CHANGE! */
}

/*******************************************************************************
* FUNCTION NAME: Default_Routine
* PURPOSE:       Performs the default mappings of inputs to outputs for the
*                Robot Controller.
* CALLED FROM:   this file, Process_Data_From_Master_uP routine
* ARGUMENTS:     none
* RETURNS:       void
*******************************************************************************/
void Default_Routine(void)
{
  
 /*---------- Analog Inputs (Joysticks) to PWM Outputs-----------------------
  *--------------------------------------------------------------------------
  *   This maps the joystick axes to specific PWM outputs.
  */
#if 1  // new version, does it work? 1/20/06
	if (p1_y > STOP) // Going fwd
	{	if (DIFF < 0) // Going left
			LEFT_MOTOR = Limit_Mix(2000 + p1_y + DIFF); 
		else if (DIFF > 0) // Going right
			RIGHT_MOTOR = Limit_Mix(2000 + p1_y - DIFF); 
	}
	else if (p1_y < STOP) // Going bwd
	{	if (DIFF < 0) // Going left
			LEFT_MOTOR = Limit_Mix(2000 + p1_y - DIFF); 
		else if (DIFF > 0) // Going right
			RIGHT_MOTOR = Limit_Mix(2000 + p1_y + DIFF); 
	}
	else // if stopped
	{	
		LEFT_MOTOR = Limit_Mix(2000 + DIFF);
		RIGHT_MOTOR = Limit_Mix(2000 - DIFF); 
	}
#endif
#if 0 // two joystick drive, left front-back right steering
//	p1_y = squareSteer(p1_y);
//	p2_x = squareSteer(p2_x);

	if(p1_y <= 127+DEAD_ZONE && p1_y >= 127-DEAD_ZONE) //if p1_y in dead zone
	{	LEFT_MOTOR = STOP;
		RIGHT_MOTOR = STOP;
	}
 	else
	{	LEFT_MOTOR = p1_y;
		RIGHT_MOTOR = p1_y;
	}
	printf("Motor 1: %d Motor 2: %d ", LEFT_MOTOR, RIGHT_MOTOR);
	printf("Left joy: %d R Joy: %d ", p1_y, p2_x);
	if (!(p2_x <= STOP+DEAD_ZONE && p2_x >= STOP-DEAD_ZONE)) // if p2_x not in dead zone
	{
		if (p2_x > STOP+DEAD_ZONE) //if >than dead zone fwd
		{
			if (LEFT_MOTOR + (p2_x - STOP) /STEER_FACTOR_FAST > FULL_FWD) // prevents overloading
				LEFT_MOTOR = FULL_FWD;									// if over 254, 254
			else
				LEFT_MOTOR += (p2_x - STOP) /STEER_FACTOR_FAST;	
			if (RIGHT_MOTOR - (p2_x - STOP) / STEER_FACTOR_SLOW < FULL_BWD) // prevents overloading
				RIGHT_MOTOR = FULL_BWD;									// if below 0, 0
			else
				RIGHT_MOTOR -= (p2_x - STOP) / STEER_FACTOR_SLOW;
		} // end >than dead zone fwd
		if (p2_x < STOP-DEAD_ZONE)
		{
			if  (LEFT_MOTOR - (p2_x - STOP) / STEER_FACTOR_SLOW < 0) // prevents overloading
				LEFT_MOTOR = FULL_BWD;
			else
				LEFT_MOTOR -= (p2_x - STOP) /STEER_FACTOR_SLOW;
			if (RIGHT_MOTOR + (p2_x - STOP) /STEER_FACTOR_FAST > FULL_FWD) // prevents overloading
				RIGHT_MOTOR = FULL_FWD;
			else
				RIGHT_MOTOR += (p2_x - STOP) /STEER_FACTOR_FAST;
		}
	}
	printf("After: Motor 1: %d Motor 2: %d\n", LEFT_MOTOR, RIGHT_MOTOR);		
#endif

#if _TANK_DRIVE // if we want tank drive  
	if(p1_y <= 127+DEAD_ZONE && p1_y >= 127-DEAD_ZONE)
  		LEFT_MOTOR = 127;
 	else
		LEFT_MOTOR = p1_y;
  	if(p2_y <= 127+DEAD_ZONE && p2_y >= 127-DEAD_ZONE)
  		RIGHT_MOTOR = STOP;
  	else
		RIGHT_MOTOR = p2_y;
#endif // end tank drive
#if _BUTTON_FUN // if we want to have one joystick drive with trig

  if (p1_sw_aux1)//Joystick 1 left aux button
	LEFT_MOTOR = STOP; //STOP motor 1
  if (p2_sw_aux1) //Joystick 2 right aux button
	RIGHT_MOTOR = STOP; //STOP motor 2

#endif  //end trigger one joystick drive

  /*if(p3_y <= 127+DEAD_ZONE && p3_y >= 127-DEAD_ZONE)
  	pwm03 = STOP;
  else
	pwm03 = p3_y;   
  if(p4_y <= STOP+DEAD_ZONE && p4_y >= STOP-DEAD_ZONE)
  	pwm04 = STOP;
  else
	pwm04 = p4_y;   
  if(p1_x <= STOP+DEAD_ZONE && p1_x >= STOP-DEAD_ZONE)
	pwm05 = STOP;
  else
 	pwm05 = p1_x;  
  if(p2_x <= STOP+DEAD_ZONE && p2_x >= STOP-DEAD_ZONE)
	pwm06 = STOP;
  else
 	pwm06 = p2_x;   
  if(p3_x <= STOP+DEAD_ZONE && p3_x >= STOP-DEAD_ZONE)
	pwm07 = STOP;
  else
 	pwm07 = p3_x;   
  if(p4_x <= STOP+DEAD_ZONE && p4_x >= STOP-DEAD_ZONE)
	pwm08 = STOP;
  else
 	pwm08 = p4_x;   
  pwm09 = p1_wheel;
  pwm10 = p2_wheel;   
  pwm11 = p3_wheel;   
  pwm12 = p4_wheel;   
  */
 /*---------- 1 Joystick Drive ----------------------------------------------
  *--------------------------------------------------------------------------
  *  This code mixes the Y and X axis on Port 1 to allow one joystick drive. 
  *  Joystick forward  = Robot forward
  *  Joystick backward = Robot backward
  *  Joystick right    = Robot rotates right
  *  Joystick left     = Robot rotates left
  *  Connect the right drive motors to PWM13 and/or PWM14 on the RC.
  *  Connect the left  drive motors to PWM15 and/or PWM16 on the RC.
  */  
  pwm13 = pwm14 = Limit_Mix(2000 + p1_y + p1_x - 127);
  pwm15 = pwm16 = Limit_Mix(2000 + p1_y - p1_x + 127);
  
 /*---------- Buttons to Relays----------------------------------------------
  *--------------------------------------------------------------------------
  *  This default code maps the joystick buttons to specific relay outputs.  
  *  Relays 1 and 2 use limit switches to stop the movement in one direction.
  *  The & used below is the C symbol for AND                                
  */
  relay1_fwd = p1_sw_trig & rc_dig_in01;  /* FWD only if switch1 is not closed. */
  relay1_rev = p1_sw_top  & rc_dig_in02;  /* REV only if switch2 is not closed. */
  relay2_fwd = p2_sw_trig & rc_dig_in03;  /* FWD only if switch3 is not closed. */
  relay2_rev = p2_sw_top  & rc_dig_in04;  /* REV only if switch4 is not closed. */
  relay3_fwd = p3_sw_trig;
  relay3_rev = p3_sw_top;
  relay4_fwd = p4_sw_trig;
  relay4_rev = p4_sw_top;
  relay5_fwd = p1_sw_aux1;
  relay5_rev = p1_sw_aux2;
  relay6_fwd = p3_sw_aux1;
  relay6_rev = p3_sw_aux2;
  relay7_fwd = p4_sw_aux1;
  relay7_rev = p4_sw_aux2;
  relay8_fwd = !rc_dig_in18;  /* Power pump only if pressure switch is off. */
  relay8_rev = 0;
  
  /*---------- PWM outputs Limited by Limit Switches  ------------------------*/
  
  Limit_Switch_Max(rc_dig_in05, &pwm03);
  Limit_Switch_Min(rc_dig_in06, &pwm03);
  Limit_Switch_Max(rc_dig_in07, &pwm04);
  Limit_Switch_Min(rc_dig_in08, &pwm04);
  Limit_Switch_Max(rc_dig_in09, &pwm09);
  Limit_Switch_Min(rc_dig_in10, &pwm09);
  Limit_Switch_Max(rc_dig_in11, &pwm10);
  Limit_Switch_Min(rc_dig_in12, &pwm10);
  Limit_Switch_Max(rc_dig_in13, &pwm11);
  Limit_Switch_Min(rc_dig_in14, &pwm11);
  Limit_Switch_Max(rc_dig_in15, &pwm12);
  Limit_Switch_Min(rc_dig_in16, &pwm12);
  
 /*---------- ROBOT FEEDBACK LEDs------------------------------------------------
  *------------------------------------------------------------------------------
  *   This section drives the "ROBOT FEEDBACK" lights on the Operator Interface.
  *   The lights are green for joystick forward and red for joystick reverse.
  *   Both red and green are on when the joystick is centered.  Use the
  *   trim tabs on the joystick to adjust the center.     
  *   These may be changed for any use that the user desires.                       
  */	
  
  if (user_display_mode == 0) /* User Mode is Off */
    
  { /* Check position of Port 1 Joystick */
    if (p1_y >= 0 && p1_y <= 56)
    {                     /* Joystick is in full reverse position */
      Pwm1_green  = 0;    /* Turn PWM1 green LED - OFF */
      Pwm1_red  = 1;      /* Turn PWM1 red LED   - ON  */
    }
    else if (p1_y >= 125 && p1_y <= 129)
    {                     /* Joystick is in neutral position */
      Pwm1_green  = 1;    /* Turn PWM1 green LED - ON */
      Pwm1_red  = 1;      /* Turn PWM1 red LED   - ON */
    }
    else if (p1_y >= 216 && p1_y <= 255)
    {                     /* Joystick is in full forward position*/
      Pwm1_green  = 1;    /* Turn PWM1 green LED - ON  */
      Pwm1_red  = 0;      /* Turn PWM1 red LED   - OFF */
    }
    else
    {                     /* In either forward or reverse position */
      Pwm1_green  = 0;    /* Turn PWM1 green LED - OFF */
      Pwm1_red  = 0;      /* Turn PWM1 red LED   - OFF */
    }  /*END Check position of Port 1 Joystick
    
    /* Check position of Port 2 Y Joystick 
           (or Port 1 X in Single Joystick Drive Mode) */
    if (p2_y >= 0 && p2_y <= 56)
    {                     /* Joystick is in full reverse position */
      Pwm2_green  = 0;    /* Turn pwm2 green LED - OFF */
      Pwm2_red  = 1;      /* Turn pwm2 red LED   - ON  */
    }
    else if (p2_y >= 125 && p2_y <= 129)
    {                     /* Joystick is in neutral position */
      Pwm2_green  = 1;    /* Turn PWM2 green LED - ON */
      Pwm2_red  = 1;      /* Turn PWM2 red LED   - ON */
    }
    else if (p2_y >= 216 && p2_y <= 255)
    {                     /* Joystick is in full forward position */
      Pwm2_green  = 1;    /* Turn PWM2 green LED - ON  */
      Pwm2_red  = 0;      /* Turn PWM2 red LED   - OFF */
    }
    else
    {                     /* In either forward or reverse position */
      Pwm2_green  = 0;    /* Turn PWM2 green LED - OFF */
      Pwm2_red  = 0;      /* Turn PWM2 red LED   - OFF */
    }  /* END Check position of Port 2 Joystick */
    
    /* This drives the Relay 1 and Relay 2 "Robot Feedback" lights on the OI. */
    Relay1_green = relay1_fwd;    /* LED is ON when Relay 1 is FWD */
    Relay1_red = relay1_rev;      /* LED is ON when Relay 1 is REV */
    Relay2_green = relay2_fwd;    /* LED is ON when Relay 2 is FWD */
    Relay2_red = relay2_rev;      /* LED is ON when Relay 2 is REV */

    Switch1_LED = !(int)rc_dig_in01;
    Switch2_LED = !(int)rc_dig_in02;
    Switch3_LED = !(int)rc_dig_in03;
    
  } /* (user_display_mode = 0) (User Mode is Off) */
  
  else  /* User Mode is On - displays data in OI 4-digit display*/
  {
    User_Mode_byte = backup_voltage*10; /* so that decimal doesn't get truncated. */
  }   
  
} /* END Default_Routine(); */


/******************************************************************************/
/******************************************************************************/
/******************************************************************************/

[aaeamdar]

Found the little sucker. I practically tore down the building with my screams of joy.

unsigned char lookTable[255] was causing a problem. I guess if I want that, I need to give it values from the start. That'll be a pain.

Am I right about this fixing my problem? It allowed it to compile.

[Kevin Watson]

Originally Posted by aaeamdar

Found the little sucker. I practically tore down the building with my screams of joy.

unsigned char lookTable[255] was causing a problem. I guess if I want that, I need to give it values from the start. That'll be a pain.

Am I right about this fixing my problem? It allowed it to compile.

Yes, that was your problem.

-Kevin

[Mark McLeod]

The linker will only allow you to define a total of 256 bytes of global (or static) variables within any single project file. Individual routines within a file, such as user_routines.c, are each limited to 120 bytes of local variables.

If you want to create lookupTable[256], it'll need to be defined in another file off by itself and referenced from user_routines.c as an extern.

Or as you implied define all the values up front and make it a rom const, then you can be as large as you have program space for.

[aaeamdar]

Originally Posted by Mark McLeod

The linker will only allow you to define a total of 256 bytes of global (or static) variables within any single project file. Individual routines within a file, such as user_routines.c, are each limited to 120 bytes of local variables.

If you want to create lookupTable[256], it'll need to be defined in another file off by itself and referenced from user_routines.c as an extern.

Or as you implied define all the values up front and make it a rom const, then you can be as large as you have program space for.

Thanks very much for the help, Kevin and Mark.

making it this

final unsigned char lookTable[255] = {1,2,3,4,5,6...254};

Is probably what I want, as I have no reason to want to modify those values.

I wish I weren't taking Java, I get confused. in Java class I write printf s and in FRC I write System.out.println s.

Anyway, thanks again for all the help and valuable instruction (and timely responses!)

Paul

[Mark McLeod]

The C18 syntax (well, except for the ... part) is:

rom const unsigned char lookTable[256]={0,1,2,3,4,...255};

See pdf page 22 (document page 14) of the MPLAB C18 C Compiler User's Guide

[cvbritton]

If it's searching, the pan/tilt servos are swinging the camera around in the hope it can find the green thing. It also should say:

Searching...
Searching...
Searching...
Searching...
Searching...
...

Mine doesn't... anyone got any suggestions?

[Phalanx]

Kevin,

Thank you very much for you elegant camera code. Took me a while to undertand it all, being I've never used "C" in my entire life (I'm an old time legacy mainframe assembly programmer). We do have it installed and running quite nicely. HOWEVER after reading camera.c, I see where you are performing all the nice initialization for the camera, and you are setting quite a few registers. Unfortunately, no where can I find the documentation for all those registers and what their value(s) actually mean. I have the CMUCAM documents from FIRST and a few others and it only has registers 5-6, 17-19 and vaguely defined, do you have more detailed specs, or know where I can get them?

Thanks

[Kevin Watson]

Originally Posted by Phalanx

...HOWEVER after reading camera.c, I see where you are performing all the nice initialization for the camera, and you are setting quite a few registers. Unfortunately, no where can I find the documentation for all those registers and what their value(s) actually mean.

The registers are in the OV7620 camera module attached to the CMUcam2. The OV7620 data sheet in on my website: http://kevin.org/frc.

-Kevin

[Phalanx]

Thank you very much... Just don't ask me why I didn't think to look at your sight first. LOL! Again many thanks.

[Bob22341]

With my teams CMU cam, I have run the CMU Cam GUI, and the GUI says that it is "searching for the camera" but it never finds the camera, therefore the camera cannot be calibrated. Does anybody know what to do in this situation?

[Joe Hershberger]

Originally Posted by Bob22341

With my teams CMU cam, I have run the CMU Cam GUI, and the GUI says that it is "searching for the camera" but it never finds the camera, therefore the camera cannot be calibrated. Does anybody know what to do in this situation?

You have two options for testing the camera or calibrating it. You can use the old app from last year or you can use the new one that runs in LabVIEW that you can get here. Assuming everything goes well, you won't have to calibrate the camera, as a good calibration has already been done by Kevin in his camera code. If you don't get a GUI working, the default calibration should be good enough.

Cheers!
-Joe

[nheft]

We at team 533 are seeing two distinct intermittent startup error conditions that are unique to the frc_camera_s code. (haven't spent much time with the bells-and-whistles version). These are problems that do not occur with the IFI default code. The camera code we are using is the 1/11/2006 10:45 PM date stamp.

When the RC starts up correctly (about 90% of the time), the camera handler and servo tracker work perfectly. With the default_routine() call uncommented, we are also able to control other PWM putputs from the joysticks, etc.

The other 10% of the time we get one of two kinds of errors.

The first error is the "Code Error", similar to that reported by team 1216. The Code error only occurs at power-up, not after hitting a reset. When we see a Code Error, a robot reset clears the error.

The second error, far more disturbing than the "Code Error" condition, is one in which there is no code error but the data the user uP receives from the master is corrupted - for example Joystick 1 X and Y data fields are reversed. The disturbing thing about this condition is that everything looks normal on the RC LED's so we would not know the problem is happening until the match starts. Also, the RC does not recover from this case by pressing the reset button. Only cycling power (and waiting another 5 seconds if the backup battery is connected) clears the problem.
I disabled Tracking_Info_Terminal(), Camera_Handler() and Servo_Track() in Process_Data_From_Master_uP() and still get the startup errors.

I spoke to Tom Watson at IFI and he said that if we can't duplicate this with the IFI default code then it must be something in the camera code.

Any help would be appreciated. Thanks in advance.

[Chris Hibner]

You mention that the joystick x and y are inverted. Did you determine by checking the joystick x/y values and/or motor PWM variables via the dashboard or terminal window, or are you determining this because the robot is acting funny?

On Tuesday we discovered that PWMs 13,14,15, and 16 (i.e. the bit-banged PWMs) do not work with the default camera code. The interrupts in the camera code occasionally stretch the pulse widths causing the robot to jump around a bit.

[nheft]

The X and Y values were reversed, not inverted. I was using the "example printf" line in the default code that sends out p1_y, pi_x, p1_trig, and p1_top to the serial port for diagnostic purposes. In the fault condition, the X and Y values are reversed and I am getting garbage for p1_trig and p1_top as well, causing their associated relay outputs to go crazy.