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Figure 142 Front CMU camera
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Gathers mean color and variance data Resolution of 80 143 pixels Serial communication at 115,200, 38,400, 19,200, and 9600 Bd Demo mode that automatically locks onto and drives a servomotor to track an object
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Serial Communication As stated, we communicate to the CMU camera via a serial interface We will create a serial communication link between the CMU camera and both a per sonal computer (PC) and the PIC microcontroller We will first look at the PC communication to the CMU camera Figure 143 is a simple Windows 98 program It allows you to test the CMU camera and the serial communication link (port number and baud rate) You can adjust the PC s baud rate and serial port through drop down menu items This program may be downloaded without cost from this website: http://wwwcmucamcom Before you start the Windows program, you need to set up the CMU cam era s baud rate Figure 144 shows the back of the CMU camera, where the male header is located to place various jumpers The baud rate is selected using jumper 2 and jumper 3 on the back of the CMU camera:
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Figure 143 Basic serial Windows PC communication
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Figure 144 Back of CMU camera showing baud rate jumpers
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Baud rate 115,200 38,400 19,200 9,600
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Jumper 2 Open Set Open Set
Jumper 3 Open Open Set Set
For PC communication I recommend using the 115,200 Bd rate Use this baud rate because once you have your simple communication up and running, you can switch over to a more sophisticated Windows program to evaluate the CMU camera parameters With the baud rate set, connect the serial cable to the CMU camera (see Fig 145) Connect a DB 9 pin serial cable from the PC to the camera Start the program Set the program s baud rate to match the CMU camera s baud rate Set the serial port to the one you connected to the CMU camera If your computer has multiple serial ports, you may have to try different COMM ports to find out which one is connected to the camera To test a port, set the serial port to COMM1 Turn on the CMU camera The following message should be displayed when the camera is turned on:
cmucam V112
Figure 145 PC serial cable connection to CMU camera
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If you do not see this message, turn off the camera, set the serial port to COMM2, and test again Continue in this manner until you find the right COMM port If you don t see the message with any of the COMM ports on your computer, you may have the baud rate set improperly double check Once you see the message, you begin to communicate with the CMU camera To turn on the camera s green LED, enter the command l1 1 and hit Return To turn off the green LED, enter the command l1 2 and hit Return Once you have the communication link working, you are finished with the first program, and it is time to move onto the main VB application program VB Application Program The VB application program is included on the CD ROM with the CMU camera The application allows you to see how the CMU camera images different scenes or targets The current VB application isn t stable; however, by the time this book goes to press, a newer, (hopefully) more stable application program will be avail able The simple application we used before provided the correct port number that you will need to allow this program to function properly The baud rate used on this program is fixed at 115,200 So make sure the CMU camera is set at 115,200 Bd
Figure 146 Windows PC program
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Figure 147 Windows PC program showing frame dump
To view the image properly from the camera, hit the 180 option (see Fig 146) Select the proper COMM port number and open the port Turn on the camera You should receive the CMUcam V112 message Hit the Dump Frame button and wait It can take 10 s for the software to dump the frame The image shown in the Dump Frame window (see Fig 147) is a simple tar get I constructed This target helped me calibrate the camera s field of view The target is a 25 in square of orange paper (see Fig 148), held at a distance of 12 in from the camera lens I also used this target to read the image pro cessing parameters from my PIC program 2 as I moved the target left, right, up, and down I assembled these image process readings in a small table; more about this later You should use this opportunity to find a good target Place the object you want to use as your target in front of the camera, and do a frame dump You are looking to see that the object shows well in the image and has good con trast with the background You can also see how much space the object takes up in the image This will give you an idea of how close you should hold the object to the camera Once you have your target, you can start using the communication port for issuing commands to the CMU camera Try turning the green LED on and off
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