RGB Swarm Robot Project Documentation - Revision history

MatthewElwin: /* Software */

2010-12-17T20:35:22Z

Software

← Older revision		Revision as of 15:35, 17 December 2010
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	*XBeePackets		*XBeePackets

			===Environment Variables===

			Permanently set the windows environment variable SwarmPath to point to the SwarmSystem folder by running the
			setup.cmd in the main directory. It is important that the script is run from the SwarmSystem folder directly or the path will not be set correctly.
	===.git===		===.git===
	This directory contains the inner workings of the version control system, and you should not modify it. See git documentation for details.		This directory contains the inner workings of the version control system, and you should not modify it. See git documentation for details.

Ryan Cook: /* Projector */

2010-07-22T18:54:12Z

Projector

← Older revision		Revision as of 13:54, 22 July 2010
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	The size of the projected image is currently 113.25" x 76.5" or (in mm).		The size of the projected image is currently 113.25" x 76.5" or (in mm).

			'''Before performing any experiments, allow the projector to warm up for at least 20 minutes.'''

Ryan Cook: /* Floor */

2010-07-22T18:41:31Z

Floor

← Older revision		Revision as of 13:41, 22 July 2010
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	The floor is 3 sheets of MDF(Medium Density Fiberboard) screwed to a frame of 2x4s. There are 5 2x4s arranged parallel to the longest side and smaller 2x4s arranged where the sheets meet. It is spackled and painted to give a smooth even surface. This floor should not be stepped on with shoes to prevent scuffing and should be swept before each experiment.		The floor is 3 sheets of MDF(Medium Density Fiberboard) screwed to a frame of 2x4s. There are 5 2x4s arranged parallel to the longest side and smaller 2x4s arranged where the sheets meet. It is spackled and painted to give a smooth even surface. This floor should not be stepped on with shoes to prevent scuffing and should be swept before each experiment.

	There are 25 calibration markings on the floor. ~~There~~ ~~are~~ 5 points ranging from -~~1336~~ to ~~1336~~ in the x direction and 5 points from -~~916~~ to ~~916~~ in the y direction. The calibration markings consist of two perpendicular lines with a dot and "C" marking on one of the lines. An epuck should be placed so that the color sensor side lines up with the line with the dot and "C" marking and the left wheel should line up with the other line. This orientation of the epuck is used to calibrate the cameras, see <insert camera calibration procedure>.		There are 25 calibration markings on the floor. The center of these markings make 5 points ranging from -1300mm to 1300mm in the x direction and 5 points from -880mm to 880mm in the y direction. The calibration markings consist of two perpendicular lines with a dot and "C" marking on one of the lines. An epuck should be placed so that the color sensor side lines up with the line with the dot and "C" marking and the left wheel should line up with the other line. This orientation of the epuck places the center LED on the centers of the calibration markings, which are the points said above. This configuration is used to calibrate the cameras, see <insert camera calibration procedure>.

	===Projector===		===Projector===

Ryan Cook: /* Floor */

2010-07-22T18:33:22Z

Floor

← Older revision		Revision as of 13:33, 22 July 2010
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	===Floor===		===Floor===
	The floor is 3 sheets of MDF(Medium Density Fiberboard) screwed to a frame of 2x4s. There are 5 2x4s arranged parallel to the longest side and smaller 2x4s arranged where the sheets meet. It is spackled and painted to give a smooth even surface. This floor should not be stepped on with shoes to prevent scuffing and should be swept before each experiment.		The floor is 3 sheets of MDF(Medium Density Fiberboard) screwed to a frame of 2x4s. There are 5 2x4s arranged parallel to the longest side and smaller 2x4s arranged where the sheets meet. It is spackled and painted to give a smooth even surface. This floor should not be stepped on with shoes to prevent scuffing and should be swept before each experiment.

			There are 25 calibration markings on the floor. There are 5 points ranging from -1336 to 1336 in the x direction and 5 points from -916 to 916 in the y direction. The calibration markings consist of two perpendicular lines with a dot and "C" marking on one of the lines. An epuck should be placed so that the color sensor side lines up with the line with the dot and "C" marking and the left wheel should line up with the other line. This orientation of the epuck is used to calibrate the cameras, see <insert camera calibration procedure>.

	===Projector===		===Projector===

Ryan Cook: /* Future Work and To Do */

2010-07-19T16:59:31Z

Future Work and To Do

← Older revision		Revision as of 11:59, 19 July 2010
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	===Vision System===		===Vision System===
	*Complete vision system calibration by being able to move from floor coordinates to pixel row/column coordinates and then back		*Complete vision system calibration by being able to move from floor coordinates to pixel row/column coordinates and then back
	*Update vision system to accommodate change between black/white pattern recognition and LED/light intensity recognition (eliminate going through code)\		*Update vision system to accommodate change between black/white pattern recognition and LED/light intensity recognition (eliminate going through code)\number of calculations and eliminating use of sin/cos)

	===e-puck Code===
	*Make a flow chart demonstrating the decision/command scheme of the e-puck as it is working
	*Complete/finish calibration scheme (color_cal) to calibrate e-pucks for the projector set up
	**Finish writing program to 'lawnmower' e-puck, allowing to collect data from all positions and all orientations across the floor
	***Implement 3 part turn from NUtest.c code for e-puck to accommodate control of position and orientation
	**Need to analyze the data collected in different ways
	***Generate table/equation for different floor positions and e-puck orientations, only one color/shade
	***Generate table of scalars (for different positions on the floor) for an equation which can be used to equate e-puck ADC outputs with RGB input, full spectrum sweep
	*Get rid of sin/cos calculations which take more cycles than desired
	**Calculate discrete # of possible angles per wheel (use ticks/revolution), create a look up table, check the angle from the vision system packets, use standardized table to calculate appropriate vector (reducing total number of calculations and eliminating use of sin/cos)

	[[Category:SwarmRobotProject]]		[[Category:SwarmRobotProject]]

Ryan Cook: /* Future Work and To Do */

2010-07-19T16:58:56Z

Future Work and To Do

← Older revision		Revision as of 11:58, 19 July 2010
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	==Future Work and To Do==		==Future Work and To Do==
	===Hardware===


	====DV Camera====		====DV Camera====
	A camera will be used to record and document the experiments while they take place inside the tent. The quality must be high enough to show/broadcast to interested parties (such as online video streaming), and possible for presentations, etc.		A camera will be used to record and document the experiments while they take place inside the tent. The quality must be high enough to show/broadcast to interested parties (such as online video streaming), and possible for presentations, etc.

Ryan Cook: /* e-puck Modifications */

2010-07-19T16:58:42Z

e-puck Modifications

← Older revision		Revision as of 11:58, 19 July 2010
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	==Future Work and To Do==		==Future Work and To Do==
	===Hardware===		===Hardware===

	====e-puck Modifications====

	*Measure resistance of potentiometers on e-pucks, then remove them and replace with fixed resistors to further reduce variability
	====DV Camera====		====DV Camera====
	A camera will be used to record and document the experiments while they take place inside the tent. The quality must be high enough to show/broadcast to interested parties (such as online video streaming), and possible for presentations, etc.		A camera will be used to record and document the experiments while they take place inside the tent. The quality must be high enough to show/broadcast to interested parties (such as online video streaming), and possible for presentations, etc.

Ryan Cook: /* Floor */

2010-07-19T16:40:31Z

Floor

← Older revision		Revision as of 11:40, 19 July 2010
Line 361:		Line 361:

	===Floor===		===Floor===
			The floor is 3 sheets of MDF(Medium Density Fiberboard) screwed to a frame of 2x4s. There are 5 2x4s arranged parallel to the longest side and smaller 2x4s arranged where the sheets meet. It is spackled and painted to give a smooth even surface. This floor should not be stepped on with shoes to prevent scuffing and should be swept before each experiment.
	The floor is currently a vinyl sheet from home depot. The sheet had a raised pattern on the front, so it was flipped over. The underside of the vinyl floor is not very durable, but holds up as long as no shoes are used when stepping on it. In the future, a more durable light colored floor may want to be used. Also, the floor is taped down with packing tape. The tape should not be removed as the floor has markings which show where the camera calibration dots should go and where the projected image should fall.



	===Projector===		===Projector===

Ryan Cook at 16:04, 13 July 2010

2010-07-13T16:04:20Z

Show changes

Ryan Cook: RGB Swarm Robot Project moved to RGB Swarm Robot Project Documentation: To keep with the consistency of names in the Swarm Category

2010-07-13T15:47:27Z

RGB Swarm Robot Project moved to RGB Swarm Robot Project Documentation: To keep with the consistency of names in the Swarm Category

← Older revision	Revision as of 10:47, 13 July 2010
(No difference)