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--- et:projects:tudengid11:videotuvastus [2011/04/14 21:36] – atemio
+++ et:projects:tudengid11:videotuvastus [2020/07/20 09:00] (current) – external edit 127.0.0.1
@@ Line 4: / Line 4: @@
   * Artjom Terestsenko
   * Valeri Tverdohleb
-  * Dr.Dmitri Perederi
+  * Dmitri Perederi
   * Arkadi Pristavko
 ===== 1.Lähteülesanne =====
 Videotuvastusrobot  on robot  mis peab leidma üles punast pallit ja sõita tema järgi.
+===== Aruanne =====
 ===== 2.Nõuded ja piirangud süsteemile =====
   * Peame kasutama  kamerat CMUcam3
@@ Line 13: / Line 15: @@
   * Täisautonoomne
 ===== 3.Süsteemi üldine mudel =====
-{{:et:projects:tudengid11:ppp.png|}}
+{{:et:projects:tudengid11:skeemx.png|}}
 ===== 4.Ideelahendused =====
-{{:et:projects:tudengid11:lala.jpg|}}
+{{:et:projects:tudengid11:lalax.jpg|}}
-{{:et:projects:tudengid11:lala2.jpg|}}
+{{:et:projects:tudengid11:lala2x.jpg|}}
 ===== 5.Mehaanika =====
 Roboti komponendid on paigutatud alusraamile, mis on valmistatud 3 mm paksusest alumiiniumist. Servo mootorid ja kaamera  on kinnitatud metallnurkadega. Meie robot seisab 2 ratastel. Lisaks on väike toetusrullik. Niisugune skeem annab võimalust pööratada ühe mootori pöörlemisega ja teise pidurdamisega.  Ratad on ühendatud mootoriga.  Patareihoidikud on ühendatud kruvide ja mutritega.
+  * Rattas
+Rattas on tehtud freesipingil.
+{{:et:projects:tudengid11:rattas.jpg|}}
   * Servohack(how its made?)
+Meie õnneks cmucam'ile on võmailik kaasata 4 servomootorit (otse).
+Selleks et nad töötaksid nägu alalisvoolumootorid me tegime neid ümber.
+Seda annab meile võimalust teha roboti ilma lisa draiverita.
 As for the details, there are actually only two modifications to make to the servo.
 Replace the position sensing potentiometer with an equivalent resistor network
@@ Line 81: / Line 93: @@
 Kood:
 <code c>
-lalala
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <stdbool.h>
+#include <time.h>
+#include "spoonBot.h"
+#include <cc3_ilp.h>
+#include <cc3.h>
+#include <cc3_color_track.h>
+#include <cc3_color_info.h>
+void simple_track_color (cc3_track_pkt_t * t_pkt);
+void simple_get_mean (cc3_color_info_pkt_t * s_pkt);
+int main (void)
+{
+  cc3_track_pkt_t t_pkt;
+  cc3_color_info_pkt_t s_pkt;
+  spoonBot_calibrate_t my_cal;
+  uint32_t x_mid, y_mid;
+  uint32_t threshold, x0, y0, x1, y1;
+  int32_t tmp, spoon_loc;
+  cc3_uart_init (0, CC3_UART_RATE_115200, CC3_UART_MODE_8N1,
+                 CC3_UART_BINMODE_TEXT);
+  cc3_camera_init ();
+  printf ("Starting up...\n");
+  cc3_led_set_state (0, true);
+  cc3_gpio_set_mode (0, CC3_GPIO_MODE_SERVO);
+  cc3_gpio_set_mode (1, CC3_GPIO_MODE_SERVO);
+  cc3_gpio_set_mode (2, CC3_GPIO_MODE_SERVO);
+  cc3_gpio_set_mode (3, CC3_GPIO_MODE_OUTPUT);
+  //printf ("Get calibration...\n");
+  //spoonBot_get_calibration();
+  // Before you use spoonbot, you must calibrate the servos.
+  // See the spoonBot wiki for more details
+  //
+  // SpoonBot Calibration Points
+  //   Assume Left = Servo 0
+  //   Assume Right = Servo 1
+  //   Assume Spoon = Servo 2
+  my_cal.left_mid = 130;
+  my_cal.right_mid = 95;
+  my_cal.spoon_down = 100;
+  my_cal.spoon_mid = 202;
+  my_cal.spoon_up = 255;
+  my_cal.left_dir = 1;
+  my_cal.right_dir = -1;
+  my_cal.spoon_dir = 1;
+  // Set the calibration points
+  spoonBot_calibrate (my_cal);
+  printf ("SpoonBot!\n");
+  spoonBot_stop ();
+  spoonBot_wait (100);
+  printf ("SpoonBot Down\n");
+  spoonBot_spoon_pos (-75);
+  spoonBot_wait (100);
+  printf ("SpoonBot Up\n");
+  spoonBot_spoon_pos (75);
+  spoonBot_wait (100);
+  printf ("SpoonBot Mid\n");
+  spoonBot_spoon_pos (0);
+  spoonBot_wait (200);
+  printf ("SpoonBot Right\n");
+  spoonBot_right (30);
+  spoonBot_wait (100);
+  spoonBot_stop ();
+  printf ("SpoonBot Left\n");
+  spoonBot_left (30);
+  spoonBot_wait (100);
+  spoonBot_stop ();
+  printf ("SpoonBot Done\n");
+  cc3_camera_init ();
+  cc3_camera_set_auto_exposure (true);
+  cc3_camera_set_auto_white_balance (true);
+  //cc3_camera_set_colorspace(CC3_COLORSPACE_YCRCB);
+  cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_LOW);
+  //cc3_pixbuf_frame_set_subsample(CC3_SUBSAMPLE_NEAREST, 2, 2);
+  cc3_led_set_state (0, false);
+  printf ("Waiting for image to stabilize\n");
+  cc3_timer_wait_ms (2000);
+  cc3_camera_set_auto_exposure (false);
+  cc3_camera_set_auto_white_balance (false);
+  cc3_led_set_state (0, true);
+  printf ("Hold up colored object and press button...\n");
+  while (cc3_button_get_state () == 0);
+  printf ("Grabbing Color\n");
+  // init pixbuf with width and height
+  cc3_pixbuf_load ();
+  threshold = 30;
+  // set window to 1/2 size
+  x0 = cc3_g_pixbuf_frame.x0 + cc3_g_pixbuf_frame.width / 4;
+  x1 = cc3_g_pixbuf_frame.x1 - cc3_g_pixbuf_frame.width / 4;
+  y0 = cc3_g_pixbuf_frame.y0 + cc3_g_pixbuf_frame.width / 4;
+  y1 = cc3_g_pixbuf_frame.y1 - cc3_g_pixbuf_frame.width / 4;
+  cc3_pixbuf_frame_set_roi (x0, y0, x1, y1);
+  // call get mean
+  simple_get_mean (&s_pkt);
+  // set window back to full size
+  x0 = 0;
+  x1 = cc3_g_pixbuf_frame.raw_width;
+  y0 = 0;
+  y1 = cc3_g_pixbuf_frame.raw_height;
+  cc3_pixbuf_frame_set_roi (x0, y0, x1, y1);
+  // fill in parameters and call track color
+  tmp = s_pkt.mean.channel[0] - threshold;
+  if (tmp < 16)
+    tmp = 16;
+  if (tmp > 240)
+    tmp = 240;
+  t_pkt.lower_bound.channel[0] = tmp;
+  tmp = s_pkt.mean.channel[0] + threshold;
+  if (tmp < 16)
+    tmp = 16;
+  if (tmp > 240)
+    tmp = 240;
+  t_pkt.upper_bound.channel[0] = tmp;
+  tmp = s_pkt.mean.channel[1] - threshold;
+  if (tmp < 16)
+    tmp = 16;
+  if (tmp > 240)
+    tmp = 240;
+  t_pkt.lower_bound.channel[1] = tmp;
+  tmp = s_pkt.mean.channel[1] + threshold;
+  if (tmp < 16)
+    tmp = 16;
+  if (tmp > 240)
+    tmp = 240;
+  t_pkt.upper_bound.channel[1] = tmp;
+  tmp = s_pkt.mean.channel[2] - threshold;
+  if (tmp < 16)
+    tmp = 16;
+  if (tmp > 240)
+    tmp = 240;
+  t_pkt.lower_bound.channel[2] = tmp;
+  tmp = s_pkt.mean.channel[2] + threshold;
+  if (tmp < 16)
+    tmp = 16;
+  if (tmp > 240)
+    tmp = 240;
+  t_pkt.upper_bound.channel[2] = tmp;
+  printf ("Got color min=[%d,%d,%d] max=[%d,%d,%d]\n",
+          t_pkt.lower_bound.channel[0], t_pkt.lower_bound.channel[1],
+          t_pkt.lower_bound.channel[2], t_pkt.upper_bound.channel[0],
+          t_pkt.upper_bound.channel[1], t_pkt.upper_bound.channel[2]);
+  // Load in your tracking parameters
+  // t_pkt.lower_bound.channel[CC3_CHANNEL_RED] = 200;
+  // t_pkt.upper_bound.channel[CC3_CHANNEL_RED] = 255;
+  // t_pkt.lower_bound.channel[CC3_CHANNEL_GREEN] = 0;
+  // t_pkt.upper_bound.channel[CC3_CHANNEL_GREEN] = 110;
+  // t_pkt.lower_bound.channel[CC3_CHANNEL_BLUE] = 0;
+  // t_pkt.upper_bound.channel[CC3_CHANNEL_BLUE] = 20;
+  t_pkt.noise_filter = 4;
+  t_pkt.track_invert = false;
+  x_mid = cc3_g_pixbuf_frame.width / 2;
+  y_mid = cc3_g_pixbuf_frame.height / 2;
+  spoon_loc = 0;
+  while (true) {
+    uint8_t track_flag;
+    simple_track_color (&t_pkt);
+    track_flag = 0;
+    if (t_pkt.int_density > 10 && t_pkt.num_pixels > 100) {
+      printf
+        ("centroid = %d,%d bounding box = %d,%d,%d,%d num pix= %d density = %d\n",
+         t_pkt.centroid_x, t_pkt.centroid_y, t_pkt.x0, t_pkt.y0, t_pkt.x1,
+         t_pkt.y1, t_pkt.num_pixels, t_pkt.int_density);
+      if (t_pkt.centroid_x > (x_mid + 20)) {
+        track_flag = 1;
+        spoonBot_right (10);
+      }
+      else if (t_pkt.centroid_x > (x_mid + 5)) {
+        track_flag = 1;
+        spoonBot_right (3);
+      }
+      if (t_pkt.centroid_x < (x_mid - 20)) {
+        track_flag = 1;
+        spoonBot_left (10);
+      }
+      else if (t_pkt.centroid_x < (x_mid - 5)) {
+        track_flag = 1;
+        spoonBot_left (3);
+      }
+      if (t_pkt.centroid_y > (y_mid + 10)) {
+        track_flag = 1;
+		spoonBot_drive (10);
+      }
+      if (t_pkt.centroid_y < (y_mid - 10)) {
+        track_flag = 1;
+		spoonBot_drive (-10);
+      }
+      if (spoon_loc > 100)
+        spoon_loc = 100;
+      if (spoon_loc < -100)
+        spoon_loc = -100;
+      spoonBot_spoon_pos (spoon_loc);
+    }
+    if (track_flag == 0)
+      spoonBot_stop ();
+  }
+  return 0;
+}
+void simple_track_color (cc3_track_pkt_t * t_pkt)
+{
+  cc3_image_t img;
+  img.channels = 3;
+  img.width = cc3_g_pixbuf_frame.width;
+  img.height = 1;               // image will hold just 1 row for scanline processing
+  img.pix = cc3_malloc_rows (1);
+  if (img.pix == NULL) {
+    return;
+  }
+  cc3_pixbuf_load ();
+  if (cc3_track_color_scanline_start (t_pkt) != 0) {
+    while (cc3_pixbuf_read_rows (img.pix, 1)) {
+      // This does the HSV conversion
+      // cc3_rgb2hsv_row(img.pix,img.width);
+      cc3_track_color_scanline (&img, t_pkt);
+    }
+  }
+  cc3_track_color_scanline_finish (t_pkt);
+  free (img.pix);
+  return;
+}
+void simple_get_mean (cc3_color_info_pkt_t * s_pkt)
+{
+  cc3_image_t img;
+  img.channels = 3;
+  img.width = cc3_g_pixbuf_frame.width;
+  img.height = 1;               // image will hold just 1 row for scanline processing
+  img.pix = malloc (3 * img.width);
+  cc3_pixbuf_load ();
+  if (cc3_color_info_scanline_start (s_pkt) != 0) {
+    while (cc3_pixbuf_read_rows (img.pix, 1)) {
+      cc3_color_info_scanline (&img, s_pkt);
+    }
+    cc3_color_info_scanline_finish (s_pkt);
+  }
+  free (img.pix);
+}
 </code>
+===== 8.Majanduskalkulatsioonid =====
+  * Cmucam3-----------------260 eur
+  * Servo-------------------15  eur
+  * Alusplaatide materjal---5   eur
+  * Tööjõukulud-------------100 eur
+  * **Kokku-------------------380 eur**
+===== 9.Kokkuvõte ja järeldused =====
+Mehatroonikaprojekt andis meile plaju kogemusi. Selline projekt haarab mittu erinevad distsipliinid: programeerimine, CAD proekteerimine, oskus töötama tööristetega, elektroonika, disaini alused. Arvame, et see projekt on väga kasulik sest tutvub meid meie erialaga. Avaldame tänu Raivo Sellile, kes andis kasulikud nõuanned. Ta on loonud lahedad tingimused töö jaoks.
+===== 10.Viited ja kasutatud materjal =====
+  * [[http://roboticlab.eu|Roboticlab]]
+  * [[http://cmucam.org|Cmucam]]
+  * [[http://myrobot.ru|Myrobot]]

et/projects/tudengid11/videotuvastus.1302816991.txt.gz · Last modified: 2020/07/20 09:00 (external edit)