Toby Baumgartner
This is the ServoCam Project, as shown here: http://youtu.be/riiqyXnckR4
Dependencies: mbed NetEthApiLPC1768 NetServicesLPC1768 Camera_LS_Y201 Servo
Revision 0:13c861a5ed0f, committed 2011-06-03
- Comitter:
- tbaumg
- Date:
- Fri Jun 03 19:12:28 2011 +0000
- Commit message:
- V1
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Camera_LS_Y201.lib Fri Jun 03 19:12:28 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/shintamainjp/code/Camera_LS_Y201/#43358d40f879
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/NetEthApiLPC1768.lib Fri Jun 03 19:12:28 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/donatien/code/NetEthApiLPC1768/#2929fcb16bbf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/NetServicesLPC1768.lib Fri Jun 03 19:12:28 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/donatien/code/NetServicesLPC1768/#acb9b7d53771
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Fri Jun 03 19:12:28 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Jun 03 19:12:28 2011 +0000
@@ -0,0 +1,165 @@
+#include "mbed.h"
+#include "Camera_LS_Y201.h"
+#include "Servo.h"
+#include "EthernetNetIf.h"
+#include "HttpServer.h"
+
+Servo servo1(p21);
+Servo servo2(p22);
+DigitalOut myled(LED1);
+DigitalOut myled4(LED4);
+Camera_LS_Y201 cam1(p13, p14);
+Serial device(p28, p27); // tx, rx
+LocalFileSystem local("local"); // Create the local filesystem under the name "local"
+LocalFileSystem fs("webfs");
+
+EthernetNetIf eth;
+HttpServer svr;
+
+FILE *fp = NULL;
+int datcnt = 0;
+float ServoVal1[5] = {0,.25,.5,.75,1};
+//float ServoVal2[5] = {0,.25,.5,.75,1};
+float ServoVal2[5] = {1,.9,.5,.1,0};
+
+/**
+ * Callback function for readJpegFileContent.
+ *
+ * @param buf A pointer to a buffer.
+ * @param siz A size of the buffer.
+ */
+void callback_func(int done, int total, uint8_t *buf, size_t siz) {
+ fwrite(buf, siz, 1, fp);
+
+ static int n = 0;
+ int tmp = done * 100 / total;
+ if (n != tmp) {
+ n = tmp;
+ // You can print the progress to LCD here.
+ }
+}
+
+int capture(int n) {
+ /*
+ * Take a picture.(L)
+ */
+ if (cam1.takePicture() != 0) {
+ return -1;
+ }
+ // lcd.locate(0, 1);
+ device.printf("Captured.\r\n");
+
+ char fname[64];
+
+ /*
+ * Open file.
+ * Read the content.
+ */
+ snprintf(fname, sizeof(fname) - 1, "/local/IMG_%04d.jpg", n);
+ fp = fopen(fname, "wb");
+ if (fp == NULL) {
+ return -2;
+ }
+ //lcd.locate(0, 0);
+ device.printf("Capture: %04d\r\n", n);
+ datcnt = 0;
+ if (cam1.readJpegFileContent(callback_func) != 0) {
+ fclose(fp);
+ return -3;
+ }
+ fclose(fp);
+
+ /*
+ * Stop taking pictures.
+ */
+ cam1.stopTakingPictures();
+
+ return 0;
+}
+
+
+int main() {
+ device.baud(115200);
+ device.printf("***********************************\r\n");
+ device.printf("**** ServoCamera mbed Project ****\r\n");
+ device.printf("**** NXP mbed Design Challenge ****\r\n");
+ device.printf("***********************************\r\n");
+ wait(.25);
+
+ if (cam1.reset() == 0) {
+ device.printf("Camera Reset OK.\r\n ");
+ }
+ wait(.5);
+
+ //device.printf("setImageSize=%d\n", cam1.setImageSize(LS_Y201::ImageSize640x480));
+ //wait(1);
+ device.printf("******************************\r\n");
+/* device.printf("** MOVE SERVO **\r\n");
+ for(float p=0; p<1.0; p += 0.01) {
+ servo2 = p;
+ servo1 = p;
+ wait(0.15);
+ }
+*/
+ servo2 = 0.5;
+ servo1 = 0.5;
+ device.printf("** SERVOs CENTERED! **\r\n");
+ device.printf("******************************\r\n");
+ wait(2);
+ int cnt = 0;
+ int col = 0;
+ int row = 0;
+ servo2 = 0.5;
+ servo1 = 0.3;
+ wait(1);
+ for (int j = 0; j < 3; j++) {
+ col = j;
+ servo1 = (ServoVal1[col+1]-0.15); // Move servo to new position
+ for (int i = 0; i < 3; i++) {
+ row = i;
+ servo2 = ServoVal2[row+1]; // Move servo to new position
+ wait(1);
+ myled4 = 0; // turns LED ON
+ int r = capture(cnt); // capture image
+ if (r == 0) {
+ device.printf("[%04d]:OK.\r\n", cnt);
+ } else {
+ device.printf("[%04d]:NG. (code=%d)\r\n", cnt, r);
+ }
+ cnt++;
+ myled4 = 1; // turns LED OFF
+ }
+ }
+ servo2 = 0.5;
+ servo1 = 0.3;
+ //
+ Base::add_rpc_class<DigitalOut>();
+
+ device.printf("\r\nSetting up Ethernet...\r\n");
+ EthernetErr ethErr = eth.setup();
+ if(ethErr)
+ {
+ device.printf("Error %d in setup.\n", ethErr);
+ return -1;
+ }
+ device.printf("\r\nSetup OK\r\n");
+
+ svr.addHandler<SimpleHandler>("/hello");
+ svr.addHandler<RpcHandler>("/rpc");
+ svr.addHandler<FSHandler>(""); //Default handler
+ //Example : Access to mbed.htm : http://a.b.c.d/webfs/mbed.htm
+
+ svr.bind(80);
+
+ device.printf("\r\nListening @port 80...\r\n");
+
+ //
+ while (1) {
+ Net::poll();
+ myled = 1;
+ wait(0.2);
+ myled = 0;
+ wait(0.2);
+ }
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Jun 03 19:12:28 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e