Where do I begin to get the robot to move using the camera?

[Ianuser]

Thanks. I made these changes, hopefully it will work:

At the top of user_Routines.c I declared this

int pwm03_On_Off = 1;

Then in the Default_Routine() where I map to the joysticks I put this

if(pwm03_On_Off == 1)
  {
	pwm03 = p3_y; //ForkLift
  }

An example of my switch-case statements (for a metal sensor that increments the 'count' variable each time it passes...and there each time it passes certain things happen in the CASE...) is this

if((pwm03 < 125) || (pwm03 > 129))  //if py_3 is being used (forklift going up or down)
 	{
		if((now == 1) && (last == 0)) //If sensor, which connects to Dig In/Out port 4, sends a signal...
		{
			count++; //Number of times tape passes through the sensor.
			Switch1_LED = 1; //Switch01 goes on when the tape passes the sensor.
		}
		else
		{
			Switch1_LED = 0;
		}

		switch(count) //for sensor module
		{
			case 1:			//if count = 1 then that just means that it passed through the first piece of tape which will be used to show that it is in full DOWN position.

				Relay2_green = 1;
				Relay2_red = 0;
				printf("count = 1");
				break;

			case 2:
		
				Relay2_green = 1;
				Relay2_red = 0;
				pwm03 != p3_y;
				pwm03_On_Off = 0;
				pwm03 = 127; //Motor stops when it reaches 1st level of rack.
				printf("count = 2");
				break;

There are more cases, but those are the basic formats of the others anyway. Basically for case 2: I want to have he motor pwm03 stop and the joystick not mapped to pwm03 anymore. I have this in my code that allows me to reset the counter and to remap pwm03 to the joystick (so we can move it again):
This is all still in Default_Routine()

             last = now;
	now = rc_dig_in04;

	last2 = now2;
	now2 = p3_sw_trig;

	last3 = now3;
	now3 = p3_sw_aux1;

//some other stuff, but then:

if((now3 == 1) && (last3 == 0)) //p3_sw_aux1 sets counter to 0 in case forklift needs to be reset.
	{
		count = 0;
	}


	if((now2 == 1) && (last2 == 0)) //p3_sw_trig sets joystick 3 y-axis to forklift motor. Use after each level.
	{
		pwm03_On_Off = 1;
	}

So, think this will work? there is a snowday at my school today and they wont let us in to work on the robot, so I have to wait another day before I can test any of this. Thanks

[jdejoannis]

That won't work because the next time around the fork lift is going to be reconnected to the joystick.

This does not do what you think it does:
pwm03 != p1_y;

Lets say p1_y is equal to 200 at the moment, so we have
pwm03 != 200;

Which means pwm03 is going to be set to 0 (for the moment). You will need an if or switch statement for your joystick.

Also you might want to put a \r\n in your print statements. Keep up the good work!!

Jason

[Ianuser]

Please help me, I can't figure out how to use the camera to actually MOVE the robot. I have the camera code working along with the camera itself, but how do I move pwm01 (left drive wheel) and pwm02 (right drive wheel) individually according to the pan of the camera? I have no idea where to begin with this code. (I just got the code to work for the camera and I've been trying for weeks. Now I only have 2 days, Please help if you can)

		
int I_Want_To_Search = 1;
int pwm01_On_Off = 1;
int pwm02_On_Off = 1;
int pwm03_On_Off = 1; //these are all at the top of user_routines.c Everything else is in Processfrom master UP (except TARGETRANGE[] and FIND_DISTANCE())



                          if(I_Want_To_Search == 1)
	{
		Servo_Track();
	}


                          if((Get_Tracking_State() == CAMERA_ON_TARGET) || (Get_Tracking_State() == TARGET_IN_VIEW))
		{
			pwm01_On_Off = 0;
			pwm02_On_Off = 0;
			pwm01 = 230; //Desired Forward Velocity
			pwm02 = 230;
			Switch3_LED = 1;
			
			//printf("2"); //these statements are just to see if it worked
		}
		else
		{
			Switch3_LED = 0;
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
			//printf("4"); //these statements are just to see if it worked
		}
		/*
		if(Find_Distance() <= 50) //THIS DOESN"T WORK!! WHY NOT?
		{
			pwm01 = 127;
			pwm02 = 127;
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
			I_Want_To_Search = 0; //Stops calling Servo_Track(). THEN CALL ANOTHER THING
			Switch3_LED = 0;
			//printf("3"); //these statements are just to see if it worked
		}
		*/

		if(p1_y > 129 || p2_y > 129)
		{
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
		}
		else if(p1_y < 125 || p2_y < 125)
		{
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
		}

The Find_Distance() function is this:

unsigned int Find_Distance(void)
{	
	return(targetRange[pwm07-144]);
}

and target range is this:

const rom unsigned int targetRange[] =
	{
3355,
1676,
1116,
835,
666,
553,
472,
411,
363,
325, //place 10
293,
267,
244,
225, 
208,
193,
179,
167,
156,
146, //place 20
137,
128,
121, 
113, 
107,
100,
94,
89,
83,
78, //place 30
73,
68, 
64,
60,
56,
51,
48,
44,
40,
36, //place 40
33, 
29, 
26,
23,
19,
16,
13,
10,
6,
3, //place 50
0, //place 51
};

So I would like to know why my distance thing isn't working (Max tilt is 194 and min is 94, center at 144. My degree per pwm step was 1.7647 (50/90? is that right?) Then I multiplied that by the pwm index up to 51 and found the radian value and plugged it into TAN(x) and then did 116-12.625(my height)/tan(the radian value from before)) Assuming that's correct, what's wrong with the rest of the code? It's not working properly. Camera looks away from the light when I comment in the Find_Distance code (less than 50 or whatever). ALSO, how do I program the robot to move forward???