Revision 7:24d62ef1ed34, committed 2015-03-23

Comitter:

Soldier7

Date:

Mon Mar 23 18:07:16 2015 +0000

Parent:

4:70090f3b1f07

Child:

8:fe434a018d96

Commit message:

Started up-down servo control. Not working. Readme added.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.txt	Mon Mar 23 18:07:16 2015 +0000
@@ -0,0 +1,27 @@
+= Issues: =
+
+* There are mainly two options to handle the camera.  Detached from the lamp or attached to the lamp head.
+    The algorithm for the two, are very different therefore we have to consider it as soon as possible.
+    The following evaluation is about the detached one if we go with it.
+
+= The follwoing devices we should handle: =
+
+* Sonar sensor.  We have to specify a working range where the detectable face can appear and should be followed.
+    This range approx. 70-250cm which have to be calibrated at the build time.
+    The working range data should be converted to between 0 and 1 value to easier manageable.
+
+* Camera.  From the camera we are getting a horizontal and a vertical value of the tracked face from openCV to mbed, 
+    which is the ratio value of the camera resolution between 0 and 1. 
+    But because this is the position of the middle of the square around the face, it never 0 or 1, but around 0.1 - 0.9.
+    
+* Pan servo.  The pan servo should simply follow the face provided by the horizontal position.
+
+* Tilt servo.  The tilt servo mainly similar with the pan, but it should be modified according to the neccessary
+    up-down movement.  See the description below.
+
+* Up-down servo.  The up-down servo should work together with the tilt one.  There are many solution could be develop.
+    The following one is one of them.
+    If the distance of the face is close to the minimum, then the vertical movement should be mostly followed 
+    by the up-down servo.  If the face goes below or above the minimum-maximum position of the up-down servo, 
+    then the out of range movement should be followed by the tilt servo.
+    As long as the face goes far, it should be more followed by the tilt servo and less with the up-down.

--- a/main.cpp	Thu Mar 12 19:57:41 2015 +0000
+++ b/main.cpp	Mon Mar 23 18:07:16 2015 +0000
@@ -2,9 +2,10 @@
 #include "rtos.h"
 #include "Servo.h"
 #include "C12832.h"
-Servo s1(p21);
-Servo s2(p22);
+//Servo sPan(p21);
+Servo sTilt(p22);
 Serial pc(USBTX, USBRX);
+Servo sVert(p21); // temporary assigned 21 for testing
 Mutex mutexIn;
 Mutex mutexOut;
  
@@ -57,10 +58,13 @@
     while (true) {
         mutexIn.lock();
         // The control code will come here
-        if (corHoriz[1]=='1')
-            s1 = s1 + 0.25;
-        if (corHoriz[1]=='2')
-            s1 = s1 - 0.25;
+//        if (corHoriz[1]=='1')
+//            s1 = s1 + 0.25;
+//        if (corHoriz[1]=='2')
+//            s1 = s1 - 0.25;
+        if (corVert > .5) { // check if face is below the half of the camera view
+            if (outVert > .5) { // check if lamp head is facing down
+                sVert = ; // moves lamp down by the fraction of the difference from the middle
         mutexIn.unlock();
         Thread::wait(25);
     }