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Unread 14-02-2006, 00:19
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Chris_Elston Chris_Elston is offline
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AKA: chakorules
FRC #1501 (Team THRUST)
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Re: CMUCam, Easy C, and Labview

Quote:
Originally Posted by JJMax7
I can't seem to get the camera to track the target through the code. It works fine in Labview, so I get the best image I can and save the config for Easy C. Than in easy C I initialize the camera, start the camera, and than just try to gather feedback to see if its working properly. I was able to get it working once, but now I can't seem to duplicate it. If anyone could give me any insight on something I may be overlooking, I would greatly appreciate it. Or if someone could possible give me a config that they got to work I could try that.

First thing I would do is make sure you can grab a frame, then track the color in the tracking window with Labview. If that looks good, then save your ECC file to EasyC.

Stop Labview, unconnect your RS-232 from your camera, and plug your TTL port back into RC. Make sure you have a FULLY CHARGED backup battery. Not a ¾ charged battery…FULLY CHARGED, 7.2 volts. Not 7.0 volts, not even 7.1 volts…. .lol….

Next, we need to know if your tracking with your ONBOARD camera PWM ports, or if you are planning on connecting your pan and tilt servos to the robot controller PWMs?

If you are using the onboard tracking. Make sure you read the CMU2Manual, place the lens in the upright position, so when you do a frame grab, the image is correct. (Right side up)

Plug the tilt and pan servo directly onto the CMU2 camera board. Refer to the documentation on where they connect. Your tracking might be backwards. If it is, there is a jumper you need to install to reverse the tilt or pan tracking on the camera board. We had to install the TILT jumper. We use an old hard drive MASTER/SLAVE jumper to reverse the direction of the TILT seek function.

Next is initializing your camera, load the ECC file from lab view with this. Then you need to START your camera. Then you need to capture data from your camera. Finally you need to Set Camera to "Tracking" and put a 1 in pan and a 1 in tilt. This will enable the onboard tracking feature.

You'll need to update your capture data with variables to populate and away you go.

We wasn't happy with the onboard tracking, so we borrowed Kevin's camera code to track the color by connecting the pan and tilt servos to the robot controller, rather than using the on-board servo PWMs. This way the update and servo "tracking" is 100% handled by the robot controller, and it's not so jerky, smooth and fast.....If you do this, then make sure you DISABLE the Set Camera tracking from 1 to 0 for both pan and tilt. This will disable or turn of onboard tracking.
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