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Figure 148 Target used for calibrating CMU camera
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as before You can use this communication port to implement more challeng ing commands and see the results on the screen dump Here are a few commands you may want to try: Turn on auto light adjustment This command tells the camera to adjust to the ambient lighting When you use this command, do not have your object/target in front of the camera The command is cr 18 44 Now press the Return key or Send button Wait 10 to 20 s for the camera to complete its ambient light adjustment Then enter this command to turn off auto light adjustment: cr 18 44 19 32 Now press the Return key or Send button
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This next command I found particularly useful It turns on a fluorescent
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band filter with the auto light adjustment: cr 45 7 18 44 Now press the Return key or Send button You can find other commands in the CMU manual Interfacing the CMU Camera to a Robot The first step in interfacing the camera to a robot is to establish communica tion between the PIC microcontroller and the CMU camera Remove the DB9 serial cable used for communicating with the PC The camera has a TTL seri al output next to the jumpers (see Fig 149) Before we can use the TTL seri al input/output pins, first we remove the MAX232 IC from the back of the CMU camera
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Figure 149 Back of CMU showing TTL serial communication
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jumpers
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Note: At any time you need or want to reconnect the CMU camera serial interface to a PC, you will need to place the MAX232 chip back onto the board Plug the TTL cable onto the appropriate header pins on the CMU camera Figure 1410 is the schematic we will be using You do not need to connect the two servomotors for our first two programs PIC 16F84 Runs at 16 MHz One important note about the CMU schematic you must be aware of The PIC 16F84 used in this circuit is a 20 MHz version operating at 16 MHz with a 16 MHz crystal I needed to jump up in speed because the 9600 Bd communica tion is running at the limit of the capacity of 16F84 at 4 MHz To keep the baud rate timing accurate when we change clock speeds, we enter the command
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define osc 16
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This informs the compiler that we are running at 16 MHz The compiler auto matically adjusts the serial commands to keep the baud rate accurate Program 1 This first program establishes a communication link between the CMU cam era and PIC 16F84 microcontroller It turns the green LED on the CMU cam era on and off You should not proceed to the more advanced programs until you have this program functioning properly
Figure 1410 Main robot schematic
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When the program starts, it begins with a 5 s countdown If you look into the countdown loop, you will see that the program issues a reset command each time through the loop I have found it necessary to send a few reset commands before the camera communication link becomes responsive
PIC to CMU test
Send serial information to CMU camera true
define osc 16
x var byte
y var byte
recdata var byte[10]
trisb = 0
portb = 0
pause 1500
serout portb1,6,[ CMU Program V1 ]
for x = 0 to 4
y = 5 x
portb3 = 1
serout portb1,6,[254,192, Starting in ,#y]
serout portb2,2,[ RS ,13]
pause 500
portb3 = 0
pause 500
next x
serout portb1,6,[254,1, Resetting Cam ]
serout portb1,6,[254,192] Move to second line
serout portb2,2,[ RS ,13]
gosub display
pause 1000
start:
Turn green CMU LED on
serout portb1,6,[254,1, Green LED On ]
serout portb1,6,[254,192] Move to second line
serout portb2,2,[ L1 1 ,13]
gosub display
pause 1000
Turn green CMU LED off
serout portb1,6,[254,1, Green LED Off ]
serout portb1,6,[254,192] Move to second line
serout portb2,2,[ L1 2 , 13]
gosub display
pause 1000
Fourteen goto start
display:
serin2 portb0,84,20,error,[str recdata\4]
for x = 0 to 4
serout2 portb1,16468,[ ,#recdata[x]]
recdata[x] = 32
next x
pause 1000
return
error:
No acknowledgment
serout portb1,6,[ No ACK Cont ]
pause 1000
return
Program 2 This second program displays on the LCD the major image processing parame ters available from the CMU camera This program just fits into the 1K mem ory space of the PIC 16F84 If you add a programming line or a couple of letters or spaces in any of the LCD displays, the program will not compile, because it will exceed the PIC 16F84 memory limit Keep that in mind, if you encounter an error, when compiling this program
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