Embedded Robotics,Mobile Robot Design and Applications with by Thomas Bräunl

By Thomas Bräunl

The booklet is a realistic "hands-on" education advisor in embedded platforms and cellular robots. All very important facets of Embedded platforms are provided within the fascinating context of cellular Robots.

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It provides the least amount of overhead at the cost of a small delay in the processing. This delay can often be eliminated by requesting a frame just before the motion command ends. 4 Camera RoBIOS Interface All interaction between camera and CPU occurs in the background through external interrupts from the sensor or via periodic timer interrupts. This makes the camera user interface very simple. e. with or without hardware buffers), for which drivers have been written for the EyeBot. 1: Camera interface routines typedef BYTE image [imagerows][imagecolumns]; typedef BYTE colimage[imagerows][imagecolumns][3]; int CAMInit (int mode); int CAMRelease (void); int CAMGetFrame (image *buf); int CAMGetColFrame (colimage *buf, int convert); int CAMGetFrameMono (BYTE *buf); int CAMGetFrameRGB (BYTE *buf); int CAMGetFrameBayer (BYTE *buf); int CAMSet (int para1, int para2, int para3); int CAMGet (int *para1, int *para2, int *para3); int CAMMode (int mode); The only mode supported for current EyeCam camera models is NORMAL, while older QuickCam cameras also support zoom modes.

Set motor speed (output) 2. This subroutine has to be called periodically (for example every 1/100s). Since motor control is a “low-level” task we would like this to run in the background and not interfere with any user program. 53 4 Control Let us take a look at how to implement step 1. 4). 1. Write a control subroutine a. b. c.

However, because of the lack of feedback, the actual motor speed could not be verified. This is important, because supplying the same analog voltage (or equivalent: the same PWM signal) to a motor does not guarantee that the motor will run at the same speed under all circumstances. For example, a motor will run faster when free spinning than under load (for example driving a vehicle) with the same PWM signal. In order to control the motor speed we do need feedback from the motor shaft encoders.

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