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Weeks 9-10
Update
The MATLAB fucntions to connect the checkers
algorithm together with the movemnt of the arm are starting to come
along. The bot is currently able to play checkers however it is
currently ignoring jumps and has no programming for kings yet. The
firmware on the arm controller has also had a lot of work done on it to
clean up the PIDs and make it so that the responses of when a movement
is completed are always sent.
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Weeks 7-8
Update
Our MATLAB GUI now displays the image from the
camera as well as the computed loaction of the checker pieces. The
"Update" button will update these views, which takes about two seconds.
The GUI also has the ability to get the posisition on any cell and
store it to a matrix of cell location via the "Get Pos" button. The "Go
To" button will make the arm move to that cell location. This can be
used to calabrate the locations of where the arm thinks the checker
cells are located. Finaly we have added the ability to enable and
disable all motors in the arm via the "Enable" and "Disable" buttons.
This is for safty and for testing.
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Weeks
6-7 Update
- Our MATLAB GUI
has been
expanded to include gripper actuation control.
- RoboRealm
has been tuned
to accurately locate and label the centerpoints of both the red and
green checker piece. The software can follow checker piece movement,
and adapt to varying lighting conditions.
- MATLAB
can now read RoboRealm positional data,
and can track game piece movements. These movements are convienently
displayed in a separate MATLAB GUI.
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Progress
as of 4/28/2010
- We can
successfully control our three axis.
Each axis can be homed and moved to any desired position at any speed
using a friendly user interface which can be seen below.
- Our
vision system is now able to recognize the
checker board and even locate any checkers placed on the board. This is
accomplished by using Roborealm. The next step in determining checker
position is to determine the color of a given checker and be able to
interface with matlab.
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| Software |
There are
two different types of software on this project. Firmware which is code
that runns on the microcontroller to control the arms motors. Then
there is the code that will run on the PC that runs the vision and
checkers algorithms.
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| PC
Software |
Currently
we use Matlab to send controls to
our microcontroller to move our arm. Our Matlab code is ziped and
linked below, it includes the gui and source code.
To locate our checkers a vision system is going to be used. Using a
Microsoft Life cam 3.0 and Roborealm we are developing the necessary
code to locate each checker and determine its color.
Matlab Code
(4/28/10)
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| Firmware |
The firmware
in c code that is compiled for a AVR
microcontroller. We have gone through many different revisions of the
code. The most recent as of 4/28/10 is the Atmega128 code. This code
runs PIDs on all three axies and uses the serial port to send and
receive commands from a computer.
Atmega128
Code
AVR PID Code |
