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Unread 30-01-2006, 22:06
Steve Orr's Avatar
Steve Orr Steve Orr is offline
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FRC #1293 (D5Robotics)
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Moving robot while tracking with camera questions...

I have the camera functioning correctly and have used LabView as well as the RC camera code to have it track properly from good distances so I am ready to move forward but have run into some questions. I have read countless threads here and can't get to the bottom of these questions...

1. If I want to use the camera for autonomous mode, do I need to add #include statements in user_routines_fast.c referencing the camera, tracking, eeprom, and terminal c and h files (as in the user_routines.c file)?

2. In order to drive motors in autonomous, I am guessing that all I need to do is generate code calling on data sent from the camera to control my drive train pwm's (13 and 15) in the section that says /* Add your own autonomous code here. */ ... Is this correct and what exactly are the variables called for blob size, and pan or tilt positions relative to the target? (or do I need to calculate things like blob size as in terminal.c?)

3. It looks like underneath the camera code in user_routines.c that all of the pwm's are reset to neutral (127) and should work as the camera is tracking. Yet, I realize for safety, something has been commented in order to keep us from driving the robot as camera is tracking, and that pwm01 should not be used for the camera and the port 1 y-axis. Can you help me get the robot moving via joystick input (while tracking!) by pointing me to the code I need to consider? Should I just comment out pwm 1-3 joystick mapping so I don't use them for anything but the camera?


4. Once I get the robot moving via OI input from the joysticks, I kind of need to repeat part of question 1 because I don't know where to call the variables that have the info I need to aim my shooter. (i.e. what are the specific names of the variables which tell me target position within the screen as it is tracking, or do I need to define those as done in the printf statements in terminal.c?)


I hope I am not out of line by asking for these clarifications, but I am trying to learn this while burning too many candles in too many areas outside of FIRST... I really want my students to learn this and have the experience of FIRST, but I don't have the personnel I need to assist me and I feel like I almost have it. I'm missing a little of the big picture because of the way the code is compartmentalized. It is truly awesome seeing what you guys are able to offer, and working through understanding it. Yet, I can't get to the creative part and it is driving me a little bonkers. I am just one marble short of putting it all together. It must be one of the many I have lost over the past 2 weeks...

Any assistance you could offer would be much appreciated!

Steve Orr
D5Robotics : Team 1293
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S.Orr
D5Robotics : Team 1293
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