our own allternative code for the cmu camera

[Gili]

We had a lot of problems working with Kevin's tracking code for the CMUcam, so we decided to develop our own. we worked all night (literally) and came up with a program that works with our camera. the program itself tracks the green target and if it doesn't find it, it searches for it. if you also have any problems with Kevin's tracking code (sorry Kevin but we tried ), take a look at what we did, its worth a try.

click here to go to our forum and download the code

BTW, if you see any bugs or have any suggestions, we will be happy to hear what you have to say

[nheft]

I tried the link you posted and got a 3 K file called 1577camera.rar. Where do I go from here?

Originally Posted by Gili

We had a lot of problems working with Kevin's tracking code for the CMUcam, so we decided to develop our own. we worked all night (literally) and came up with a program that works with our camera. the program itself tracks the green target and if it doesn't find it, it searches for it. if you also have any problems with Kevin's tracking code (sorry Kevin but we tried ), take a look at what we did, its worth a try.

click here to go to our forum and download the code

BTW, if you see any bugs or have any suggestions, we will be happy to hear what you have to say

[Jared Russell]

I would STRONGLY suggest putting only function forward declarations in the .h file and putting the rest in a .c file...

[Gili]

Originally Posted by nheft

I tried the link you posted and got a 3 K file called 1577camera.rar. Where do I go from here?

hi nheft!
the file you downloaded is a rar file. open it with WinRaR (if you don't have it download from here ).
after downloading, extract the files with winrar and follow the instructions in readme.txt. it should be pretty easy from there. if you still have any problems, feel free to ask any question and we will be happy to help .

[Gili]

Originally Posted by Abwehr

I would STRONGLY suggest putting only function forward declarations in the .h file and putting the rest in a .c file...

ok, we added a .c and changed the .h as you recommended. thanks again!

ps. we will be happy to hear more comments.. we are kind of C noobs so tell us what you think

[nheft]

Thank you

Originally Posted by Gili

hi nheft!
the file you downloaded is a rar file. open it with WinRaR (if you don't have it download from here ).
after downloading, extract the files with winrar and follow the instructions in readme.txt. it should be pretty easy from there. if you still have any problems, feel free to ask any question and we will be happy to help .

[Jon236]

Originally Posted by Gili

ok, we added a .c and changed the .h as you recommended. thanks again!

ps. we will be happy to hear more comments.. we are kind of C noobs so tell us what you think

Thanks for the code...will try it out in a bit...

When is your regional?.....I hope to come, but there are no dates!!!!!!

Jon Mittelman
Team236 Mentor

[Gili]

sorry...i don't know the dates yet...
when i will i'll post them
we'll be glad to see you in Israel

[Jon236]

Originally Posted by Gili

sorry...i don't know the dates yet...
when i will i'll post them
we'll be glad to see you in Israel

I wanted to share our base driver code with you. It allows simultaneous operation of the camera, gyro, sonar, quadrature encoders and yaw sensor.

You can find at at the end of this thread:

http://www.chiefdelphi.com/forums/sh...0&page=2&pp=15


Good luck and here's hoping to see you guys in Tel Aviv!

Jon Mittelman
Team236

[Calvin]

Ok I have been testing your code... but I have run into a problem!

At the beginning the camera goes wild and finds the light object...
- as either the camera mount moves or the light moves, the camera follows it.

If you cover up the camera, the xerror and yerror values turn 0... Camera stands still and nothing happens... as you uncover the camera it detects the light and does a little adjusting...

BUT now here is where the problem comes in:
- Cover up the camera. (xerror = 0, yerror = 0)
- Now move the camera away from the light.
- Uncover the camera.
- The camera stands still!

What if during the competion a robot blocks your camera, and your robot moves away (hence your camera moves away from light)... The camera won't respond until it is shown a glimps of the light.

Maybe you should add a piece of code that after a certian amount of time (while xerror = 0 and yerror = 0) to restart the camera and do that wild scan again.

[Gal]

Originally Posted by Calvin

If you cover up the camera, the xerror and yerror values turn 0... Camera stands still and nothing happens... as you uncover the camera it detects the light and does a little adjusting...

If you cover up the camera, it should start searching for the light. If you look in the 1577camera.c we supplied, in the search() function it says:

if (xerror != 0 && yerror != 0)
     track();

That means that if the xerror and yerror are NOT 0, the camera should track the light. If the xerror and yerror ARE 0, the camera should perform a search as written in the code.
I don't know why your camera doesn't perform that search but i know it should...
This code works for us very well, but maybe we should add an 'else' after that 'if'.
Anyway, are you sure you followed all of the instructions in the readme we made?

[Calvin]

Alrighty I will play around somemore today...

[X-Istence]

Would you mind sticking one in a zip file online. On Mac OS X there is no standard unrar utility, and I can't find one that does not cost money.

[Gal]

Originally Posted by X-Istence

Would you mind sticking one in a zip file online. On Mac OS X there is no standard unrar utility, and I can't find one that does not cost money.

I uploaded the zipped file to our forum: http://www.avivrobotics.net/forum/viewtopic.php?p=27

[Calvin]

I would suggest you try putting the camera into a place with no lights at all,
Does it restart search if no target is found?

Anyways, with a bit modification I was able to have the code restart search (after 5 seconds ) if no target was found... for once we don't want it to restart just because something quickly got in it's way.