Difference between revisions of "Candi"
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There are two perspective transforms that need to be implemented, the rectilinearizing transform and the planar perspective transform. | There are two perspective transforms that need to be implemented, the rectilinearizing transform and the planar perspective transform. | ||
| − | * | + | *Rectilinearizing Transform |
| − | * | + | *Simple in theory. Very hard to make work fast though. I have posted preliminary MATLAB code and am hoping to use vertex shaders to speed processing and autofill data gaps, but I don't know what hardware is available at the moment or how to write Cg. |
| + | *Scratch that, I have an OpenGL [[:Image:Fixbarrelva0.zip|version]] working in C so the MATLAB one is unnecessary. Right now the OGL app is stand alone and only works on pictures named "pic.bmp" that are a 720x480 image in the bottom left corner of a 24bit 1024x1024 bmp image. Included is the Cygwin makefile(should work on any system with glut in $INCLUDE but give a warning), the pic.bmp test image, and source. Press any key to quit the program. The source code is massive, so a good text editor will be needed to edit. | ||
*Planar Perspective Transform: [[:Image:transform.v1.zip|Version 1.0]] | *Planar Perspective Transform: [[:Image:transform.v1.zip|Version 1.0]] | ||
Revision as of 15:21, 30 June 2019
| Candiii | |
|---|---|
| [[]] | |
| Year Of Creation | 2006-2007 |
| Versions | |
| Current Version | deprecated |
| Update Year | 2007-2008, 2008-2009 |
| Information and Statistics | |
| Farthest Distance | 235 feet |
| Fastest Time | n/a |
| Highest Placement AutoNav | 6th |
| Highest Placement Design | 9th |
Contents
Competitions
IGVC 2007
- Bot Version: Candi
- Results
- Distance: 123 feet
- Design Competition Placement: 9th (743 / 1100 points)
- AutoNav Competition Placement: 7th
IGVC 2008
- Bot Version: Candii
- Results:
- Distance: 185 feet
- Design Competition Placement: 18th (778.33 / 1100 points)
- AutoNav Competition Placement: 9th
IGVC 2009
- Bot Version: Candiii
- Results:
- Distance: 235 feet
- Design Competition Placement: 21st (476.67 / 1100 points)
- AutoNav Competition Placement: 6th
Versions
Candi (V1.0)
At Competition
Mechanical Issues & Improvements
Old BattleBots motors.
A new frame is currently being fabricated from 1" square tubing.
New body will have front suspension and a giant ball caster in the rear.
Electrical Issues & Improvements
- Router: Motorola WR850GP
- Hardware
- Broadcom 4712 @ 200MHz
- Storage: 4MB Flash
- Ram: 16MB
- Wireless: Integrated Broadcom
- Switch: ADM6996L (4 Port)
- Serial: Two headers
- Power: +12VDC, 0.5A
- Software
- OpenWrt (White Russian 0.9)
- 2.4.30 Kernel
- Available Software
- OpenWrt (White Russian 0.9)
- Hardware
- Monitor
- Environmental Data Acquisition System
- Positioning System
- Mapping and Path-finding System
- Power System
- Motor System
- Emergency Stop System
Software Issues & Improvements
Code from Graduate Students - Restricted access (must be logged in to access)
There are two perspective transforms that need to be implemented, the rectilinearizing transform and the planar perspective transform.
- Rectilinearizing Transform
- Simple in theory. Very hard to make work fast though. I have posted preliminary MATLAB code and am hoping to use vertex shaders to speed processing and autofill data gaps, but I don't know what hardware is available at the moment or how to write Cg.
- Scratch that, I have an OpenGL version working in C so the MATLAB one is unnecessary. Right now the OGL app is stand alone and only works on pictures named "pic.bmp" that are a 720x480 image in the bottom left corner of a 24bit 1024x1024 bmp image. Included is the Cygwin makefile(should work on any system with glut in $INCLUDE but give a warning), the pic.bmp test image, and source. Press any key to quit the program. The source code is massive, so a good text editor will be needed to edit.
- Planar Perspective Transform: Version 1.0
- Very simple and fast if data given in a convenient format. In development, I will post when I have a semistable implementation.
- HOLY SH*T!!!
- I went to the railroad today, took a picture with the camera, and dvgrabbed it back home.
- I was going to do some math and such, but then I thought, "What the hell, lets see what happens if I just stick it into the transform..." and LOOK WHAT I SAW!:
--->
- OGMWTFBBQ&HOW!
- I knew it was good, but that is amazing!--Paul 11:32, 20 May 2007 (EDT)
Candii (V2.0)
At Competition
Mechanical Issues & Improvements
Electrical Issues & Improvements
Needs correction:
- GPS communicates over COM2(/dev/ttyS1)
- Time server (NTP) runs on the TS board reading the Data Carrier Detect (DCD) line of COM2
- Add: TS Board is running an NTP server to define robot time
- Software modules should be included
- Rename "Arduino" -> "Motor Arduino"
- Add "Power Arduino"
- Fix: Wheel Encoders will be communicating over SPI
Software Issues & Improvements
Our code for this year is stored in Subversion and is accessible at https://svn.robojackets.org/igvc/2008. The laptop codebase will be written in C++.
Contributers to the laptop codebase should ensure that they are following our coding conventions.
Player/Stage:
We are using the Player/Stage robot server as the communication layer between our device drivers and our processing/controlling software modules.
As we've used the Player server, occasionally we've needed to patch it to better suit our needs. Below are our custom patches:
Candiii (V3.0)
At Competition
Mechanical Issues & Improvements
Candiii's body has remained essentially the same for the last 2 years.
Electrical Issues & Improvements
Candiii has two isolated power systems: one for the motors and one for the other electronics.
Other Electronics:
- Camera
- LIDAR
- IMU
- GPS
- Compass
- Motor encoders
- Motor currents
Software Issues & Improvements
Localization and Mapping:
Controls:
- PI-Lead control(?)
- Joystick
