Control with TrackCam Vision Feedback and MATLAB - Revision history

Ilya Mikhelson at 22:01, 11 September 2009

2009-09-11T22:01:33Z

← Older revision		Revision as of 17:01, 11 September 2009
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	===Timing===		===Timing===
	The timing of the system is detailed on the timing diagrams (Fig 5 and 6). The idea, which is not fully implemented yet, is to have there be two pictures already taken when the MATLAB program calls the MEX-file, so that the program waits for only one more picture to be taken and then grabs all three and processes them all. To implement this, the frame time has to be just a little shorter than half of the total processing time, including the MEX-file processing and the MATLAB processing.		The timing of the system is detailed on the timing diagrams (Fig 5 and 6). The idea, which is not fully implemented yet, is to have there be two pictures already taken when the MATLAB program calls the MEX-file, so that the program waits for only one more picture to be taken and then grabs all three and processes them all. To implement this, the frame time has to be just a little shorter than half of the total processing time, including the MEX-file processing and the MATLAB processing. With a frame time of 500 microseconds, the system keeps up fine and can take pictures at 2000 frames per second. However, tweaking the frame time and exposure time to fit more neatly with processing time can make the system more efficient and perhaps even put the rate to over 2000 Hz, depending on how fast the processing can be done.

	[[image:TimingDiagram.jpg\|thumb\|500px\|'''Figure 5:''' Timing Diagram.\|left]]		[[image:TimingDiagram.jpg\|thumb\|500px\|'''Figure 5:''' Timing Diagram.\|left]]

Ilya Mikhelson at 21:59, 11 September 2009

2009-09-11T21:59:32Z

← Older revision		Revision as of 16:59, 11 September 2009
Line 91:		Line 91:
	The timing of the system is detailed on the timing diagrams (Fig 5 and 6). The idea, which is not fully implemented yet, is to have there be two pictures already taken when the MATLAB program calls the MEX-file, so that the program waits for only one more picture to be taken and then grabs all three and processes them all. To implement this, the frame time has to be just a little shorter than half of the total processing time, including the MEX-file processing and the MATLAB processing.		The timing of the system is detailed on the timing diagrams (Fig 5 and 6). The idea, which is not fully implemented yet, is to have there be two pictures already taken when the MATLAB program calls the MEX-file, so that the program waits for only one more picture to be taken and then grabs all three and processes them all. To implement this, the frame time has to be just a little shorter than half of the total processing time, including the MEX-file processing and the MATLAB processing.

	[[image:TimingDiagram.jpg\|thumb\|500px\|'''Figure 5:''' ~~Sweep~~ ~~of requested sample rates~~.\|left]]		[[image:TimingDiagram.jpg\|thumb\|500px\|'''Figure 5:''' Timing Diagram.\|left]]
	[[image:TimingDiagramDetail.jpg\|thumb\|500px\|'''Figure 6:''' ~~Sweep~~ of ~~requested~~ ~~sample rates~~.\|right]]		[[image:TimingDiagramDetail.jpg\|thumb\|500px\|'''Figure 6:''' Blowup of Timing Diagram.\|right]]

	==Next Steps==		==Next Steps==

Ilya Mikhelson at 21:58, 11 September 2009

2009-09-11T21:58:31Z

← Older revision		Revision as of 16:58, 11 September 2009
Line 94:		Line 94:
	[[image:TimingDiagramDetail.jpg\|thumb\|500px\|'''Figure 6:''' Sweep of requested sample rates.\|right]]		[[image:TimingDiagramDetail.jpg\|thumb\|500px\|'''Figure 6:''' Sweep of requested sample rates.\|right]]

			==Next Steps==
			In the future, more things can be done to further speed up the system. First of all, using separate cores for the camera and processing may speed up the system as the two tasks would run in parallel. This would require shared memory. Another step that can be taken is to implement all the MATLAB computations in C. This would help because C is quicker than MATLAB and because MATLAB wouldn't have to access the MEX-file every time it wants to take a picture. Also, using a real-time operating system like Linux RTAI would also speed up the process. Stripping down Windows makes it close to real-time, but in reality it is not real-time.

	==Code==		==Code==

Ilya Mikhelson: /* skeleton.cpp */

2009-09-11T21:52:56Z

skeleton.cpp

Show changes

Ilya Mikhelson: /* integrationTestPutSample.m */

2009-09-11T21:52:22Z

integrationTestPutSample.m

Show changes

Ilya Mikhelson: /* sweepOfSampleRatesSineWave */

2009-09-11T21:51:52Z

sweepOfSampleRatesSineWave

← Older revision		Revision as of 16:51, 11 September 2009
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	===sweepOfSampleRatesSineWave===		===sweepOfSampleRatesSineWave===
			<nowiki>
			clear all
			close all

			freq = 50;
			amp = 1;
			sampRateIn = 50000;
			timeIn = 10;
			trigger = timeIn*sampRateIn;

			AI = analoginput('mcc',0);
			AO = analogoutput('mcc',1);

			addchannel(AI,[0:5],[1:6]);
			addchannel(AO,[0:5],[1:6]);

			set(AI,'SampleRate',sampRateIn)
			set(AI,'SamplesPerTrigger',trigger)
			set(AO,'SampleRate',ceil(1/500))

			time = 1/sampRateIn:1/sampRateIn:timeIn;

			sweep = zeros(100,3);
			for sr = 500:100:10000
			sampRate = sr;
			dt = 1/sampRate;

			t = 0:dt:timeIn;

			outputwave = ampsin(2pifreqt);
			outputwave = outputwave';
			outputwave(:,2) = ampsin(2pifreqt);
			outputwave(:,[3 4 5 6]) = 0;

			start(AI)
			tic
			for ii = 1:length(outputwave)
			while(toc<(dt*ii))
			end
			putsample(AO,outputwave(ii,:));
			%fprintf('pause: %f\n',dt-time);
			%data(ii,:) = getsample(AI);
			end

			data = getdata(AI);
			stop(AI);

			meaningfulData = data(:,1);

			NFFT = 2^nextpow2(length(meaningfulData)); % Next power of 2 from length of y
			Y = fft(meaningfulData,NFFT)/length(meaningfulData);
			f = sampRateIn/2*linspace(0,1,NFFT/2+1);
			% figure
			% plot(f,2*abs(Y(1:NFFT/2+1)))
			% title(['Single-Sided Amplitude Spectrum of y(t) (',num2str(freq),' Hz) @ ',num2str(sampRate),' Hz'])
			% xlabel('Frequency (Hz)')
			% ylabel('\|Y(f)\|')
			% axis([0,2*freq,0,amp])

			[a,b] = max(Y(1:NFFT/2+1));
			actualFreq = f(b);

			sweep(sr/100,1) = sr;
			sweep(sr/100,2) = actualFreq;
			end

			figure
			plot(sweep(:,1), sweep(:,2));
			</nowiki>

	===integrationTestPutSample.m===		===integrationTestPutSample.m===

Ilya Mikhelson: /* inputOutputSineWave.m */

2009-09-11T21:51:21Z

inputOutputSineWave.m

← Older revision		Revision as of 16:51, 11 September 2009
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	===inputOutputSineWave.m===		===inputOutputSineWave.m===
			<nowiki>
			clear all
			close all
			sampRate = 200;
			dt = 1/sampRate;
			freq = 50;
			amp = 1;
			sampRateIn = 50000;
			timeIn = 10;
			trigger = timeIn*sampRateIn;

			AI = analoginput('mcc',0);
			AO = analogoutput('mcc',1);

			addchannel(AI,[0:5],[1:6]);
			addchannel(AO,[0:5],[1:6]);

			set(AI,'SampleRate',sampRateIn)
			set(AI,'SamplesPerTrigger',trigger)
			set(AO,'SampleRate',ceil(1/500))

			time = 1/sampRateIn:1/sampRateIn:timeIn;
			t = dt:dt:timeIn;

			outputwave = ampsin(2pifreqt);
			outputwave = outputwave';
			outputwave(:,2) = ampsin(2pifreqt);
			outputwave(:,[3 4 5 6]) = 0;

			start(AI)
			tic
			a = 0;
			for ii = 1:length(outputwave)
			while(toc<(dt*ii))
			end
			putsample(AO,outputwave(ii,:));
			z = sampleMexFile(ii,ii,ii);
			end

			data = getdata(AI);
			stop(AI);
			delete(AI)
			clear AI

			meaningfulData = data(:,1);
			plot(time,meaningfulData);

			[YfreqDomain,frequencyRange] = positiveFFT(meaningfulData,sampRateIn);
			positiveFFT = figure;
			stem(frequencyRange,abs(YfreqDomain));
			xlabel('Freq (Hz)')
			ylabel('Amplitude')
			title('FFT')
			grid
			axis([0,2*freq,0,amp])

			NFFT = 2^nextpow2(length(meaningfulData)); % Next power of 2 from length of y
			Y = fft(meaningfulData,NFFT)/length(meaningfulData);
			f = sampRateIn/2*linspace(0,1,NFFT/2+1);
			figure
			plot(f,2*abs(Y(1:NFFT/2+1)))
			title(['Single-Sided Amplitude Spectrum of y(t) (',num2str(freq),' Hz) @ ',num2str(sampRate),' Hz'])
			xlabel('Frequency (Hz)')
			ylabel('\|Y(f)\|')
			axis([0,2*freq,0,amp])

			[a,b] = max(Y(1:NFFT/2+1));
			actualFreq = f(b);
			fprintf(['\nRequested frequency: ',num2str(freq), ' Hz\n']);
			fprintf(['Actual frequency: ',num2str(actualFreq), ' Hz\n']);
			</nowiki>

	===sweepOfSampleRatesSineWave===		===sweepOfSampleRatesSineWave===

Ilya Mikhelson: /* testInputCard.m */

2009-09-11T21:50:50Z

testInputCard.m

← Older revision		Revision as of 16:50, 11 September 2009
Line 393:		Line 393:

	===testInputCard.m===		===testInputCard.m===
			<nowiki>
			clear all
			close all
			dt = 1/500;
			freq = 30;
			sampRateIn = 50000;
			trigger = 100000;

			time = 1/sampRateIn:1/sampRateIn:trigger/sampRateIn;

			AI = analoginput('mcc',0);
			addchannel(AI,[0:5],[1:6]);

			set(AI,'SampleRate',sampRateIn)
			set(AI,'SamplesPerTrigger',trigger)

			start(AI)
			data = getdata(AI);
			meaningfulData = data(:,1);
			plot(time,meaningfulData);

			freqData = zeros(trigger,1);
			counter = 0;
			for ii = 2:trigger
			if (abs(meaningfulData(ii) - meaningfulData(ii-1)) < .05)
			counter = counter + 1;
			elseif ((counter ~= 0) && (ii-counter > 3))
			freqData(counter) = freqData(counter) + 1;
			counter = 0;
			elseif (ii-counter == 3)
			counter = 0;
			end
			end

			figure
			stem(time,freqData);

			for jj = 1:trigger
			if (freqData(jj) ~= 0)
			fprintf('%u pulses had duration of: %f \n',freqData(jj),jj/sampRateIn);
			end
			end
			</nowiki>

	===inputOutputSineWave.m===		===inputOutputSineWave.m===

Ilya Mikhelson: /* testOutput.m */

2009-09-11T21:50:24Z

testOutput.m

← Older revision		Revision as of 16:50, 11 September 2009
Line 358:		Line 358:

	===testOutput.m===		===testOutput.m===
			<nowiki>
			clear all
			close all
			sampRate = 5000;
			dt = 1/sampRate;
			freq = 30;
			timeIn = 30;
			amp = 1;

			AO = analogoutput('mcc',1);
			addchannel(AO,[0:5],[1:6]);
			set(AO,'SampleRate',ceil(1/500))

			t = 0:dt:timeIn;

			outputwave = zeros(length(t),1);
			for jj = 1:floor(length(t)/2)
			outputwave(2*jj,1) = amp;
			end
			outputwave(:,2) = outputwave;
			outputwave(:,[2 3 4 5 6]) = 0;

			tic
			for ii = 1:length(outputwave)
			while(toc<(dt*ii))
			end
			putsample(AO,outputwave(ii,:));
			%z = sampleMexFile(ii,ii,ii);
			%fft(outputwave);
			%fprintf('pause: %f\n',dt-time);
			%data(ii,:) = getsample(AI);
			end
			</nowiki>

	===testInputCard.m===		===testInputCard.m===

Ilya Mikhelson: /* testInputOutput.m */

2009-09-11T21:49:46Z

testInputOutput.m

← Older revision		Revision as of 16:49, 11 September 2009
Line 236:		Line 236:

	===testInputOutput.m===		===testInputOutput.m===
			<nowiki>
			clear all
			close all
			% set a desired sample rate of output
			sampRate = 5000;
			dt = 1/sampRate;
			amp = 1;
			% set input card's sample rate
			sampRateIn = 50000;
			% amount of time to acquire data
			timeIn = 10;
			trigger = timeIn*sampRateIn;

			% creat input and output objects
			AI = analoginput('mcc',0);
			AO = analogoutput('mcc',1);

			% add channels
			addchannel(AI,[0:5],[1:6]);
			addchannel(AO,[0:5],[1:6]);

			% set up cards
			set(AI,'SampleRate',sampRateIn)
			set(AI,'SamplesPerTrigger',trigger)
			set(AO,'SampleRate',ceil(1/500))

			time = 1/sampRateIn:1/sampRateIn:timeIn;
			t = 0:dt:timeIn;

			% create an output wave that is just an alternating pulse
			outputwave = zeros(length(t),1);
			for jj = 1:floor(length(t)/2)
			outputwave(2*jj,1) = amp;
			end
			outputwave(:,2) = outputwave;
			outputwave(:,[2 3 4 5 6]) = 0;

			temp = rand(10);

			% start acquisition
			start(AI)
			tic
			a = 0;
			% output data
			for ii = 1:length(outputwave)
			while(toc<(dt*ii))
			end
			putsample(AO,outputwave(ii,:));
			%z = sampleMexFile(ii,ii,ii);
			%fft(outputwave);
			%fprintf('pause: %f\n',dt-time);
			%data(ii,:) = getsample(AI);
			end

			% collect data
			data = getdata(AI);
			stop(AI);
			delete(AI)
			clear AI

			% get meaningful data from the channel that matters
			meaningfulData = data(:,1);
			plot(time,meaningfulData);

			freqData = zeros(trigger,1);
			counter = 0;
			pulseCounter = 1;
			% count number of pulses that have a specific duration
			for ii = 2:trigger
			if (abs(meaningfulData(ii) - meaningfulData(ii-1)) < .05)
			counter = counter + 1;
			elseif ((counter ~= 0) && (ii-counter > 3))
			freqData(counter) = freqData(counter) + 1;
			pulseDuration(pulseCounter) = counter/sampRateIn;
			counter = 0;
			pulseCounter = pulseCounter + 1;
			elseif (ii-counter == 3)
			counter = 0;
			end
			end

			average = 1/sampRate;
			figure
			% create a graph of pulse durations
			stem(time(1:2averagesampRateIn),freqData(1:2averagesampRateIn));
			title(['Number of Pulses with Given Duration, Recorded for ',num2str(timeIn),' Seconds (',num2str(sampRate),' Hz)']);
			xlabel('Pulse Duration (sec)');
			ylabel('Number of Pulses');

			averageDuration = 0;
			for jj = 1:trigger
			if (freqData(jj) ~= 0)
			fprintf('%u pulses had duration of: %f \n',freqData(jj),jj/sampRateIn);
			averageDuration = averageDuration + (freqData(jj)*jj/sampRateIn);
			end
			end
			fprintf('\n');
			averageDuration = averageDuration/sum(freqData);
			fprintf('Average duration of pulses: %f \n\n',averageDuration);

			standardDev = 0;
			% find the standard deviation
			for jj = 1:trigger
			if (freqData(jj) ~= 0)
			for kk = 1:freqData(jj)
			standardDev = standardDev + (averageDuration - (jj/sampRateIn))^2;
			end
			end
			end
			standardDev = sqrt(standardDev/(sum(freqData) - 1));
			fprintf('Standard deviation of duration of pulses: %f \n\n\n',standardDev);

			pulseDuration = pulseDuration - mode(pulseDuration);
			figure
			% plot how much longer or shorter pulses were than what was requested
			stem(pulseDuration/dt);
			title('Pulse Duration vs. Time')
			xlabel('Time (sec)')
			ylabel(['Extra length of pulse in terms of dt (',num2str(dt),' seconds)']);
			</nowiki>

	===testOutput.m===		===testOutput.m===