F16: Object Detector - Revision history

146 user5: /* Team Members & Responsibilities */

2016-12-21T18:39:57Z

‎Team Members & Responsibilities

146 user5: /* Implementation */

2016-12-21T18:15:05Z

‎Implementation

146 user5: /* Pixy Camera Software Implementation */

2016-12-21T18:10:38Z

‎Pixy Camera Software Implementation

146 user5: /* Pixy Camera Software Implementation */

2016-12-21T17:45:21Z

‎Pixy Camera Software Implementation

146 user5: /* Software Design SJOne Board */

2016-12-21T17:42:55Z

‎Software Design SJOne Board

146 user5: /* Project Video */

2016-12-21T17:26:28Z

‎Project Video

146 user5: /* Design & Implementation */

2016-12-21T16:39:29Z

‎Design & Implementation

146 user5: /* Project Source Code */

2016-12-21T01:59:37Z

‎Project Source Code

146 user5: /* Project Video */

2016-12-21T01:58:32Z

‎Project Video

146 user5: /* Project Video */

2016-12-21T01:58:11Z

‎Project Video

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 === Team Members & Responsibilities ===
 *  Mohit Bhasin
 ** Make mount and configure Pixy Camera along with the SJOne Board
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 **Design and Create Hardware connections between micro-controller and external parts.
 **Develop SPI Driver to allow for communication between the micro-controller and Pixy Camera
 == Schedule ==

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-[[File: Pixy to SJOne board UART flowchart.png| border|400px|center| <center> '''Figure 9. Pixy to SJOne board UART flowchart''' </center>]]
+[[File: CmpE146 F16 T5 UART Flow Chart.png| border|400px|center| <center> '''Figure 9. Pixy to SJOne board UART flowchart''' </center>]]
 <center> '''Figure 9. Pixy to SJOne board UART flowchart''' </center>
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+     }
+   }
 == Testing & Technical Challenges ==

← Older revision		Revision as of 18:10, 21 December 2016
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−	[[File: ~~Pan & Tilt-~~Servo Control.png\| frame \| center\| <center> '''Figure 8. Pan & Tilt Byte information''' </center>]]	+	[[File: CmpE146 F16 T5 Servo Control.png\| frame \| center\| <center> '''Figure 8. Pan & Tilt Byte information''' </center>]]

	=== Implementation ===		=== Implementation ===

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 The Pixy Camera is able to externally communicate with micro-controllers by sending data regarding the object it is tracking, as well as receiving data for controlling the Pixy Camera itself. When the Pixy camera locates a recognized or preprogrammed object it begins to send information to a connected peripheral in bytes regarding that object. The first few bytes the Pixy camera sends are sync bytes, in other words bytes that let the external device know that the Pixy Camera has picked up on an object. The rest of the following bytes indicate the signature of the object, where it is on the screen with respect to the camera view (x/y center), as well as the width and the height of the object. Below are the specific bytes the Pixy Camera send to the SJOne board when it picks up on a device.
-[[File: Pixy_ObjectBlock.png| frame | center| <center> '''Figure 7. Pixy Camera Object Block Data transfer''' </center>]]
+[[File: CmpE146 F16 T5 Pixy ObjectBlock.png| frame | center| <center> '''Figure 7. Pixy Camera Object Block Data transfer''' </center>]]
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 [[File: Pan & Tilt-Servo Control.png| frame |  center| <center> '''Figure 8. Pan & Tilt Byte information''' </center>]]
 === Implementation ===

← Older revision		Revision as of 17:42, 21 December 2016
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	The Baud Rate must match the Pixy Camera Baud Rate of 19200bps. This was set utilizing the equation below. From this equation we derive the DLL and DLM registers which are used as the divisors to establish the desired baud rate for the data transfer. The DLAB bit must also be initialized at is used as both the Receiver Buffer Register and the Transmit Holding Register. Both of which are set at the LCR register. The LCR register is also responsible for setting the start and stop bits of the UART communication.		The Baud Rate must match the Pixy Camera Baud Rate of 19200bps. This was set utilizing the equation below. From this equation we derive the DLL and DLM registers which are used as the divisors to establish the desired baud rate for the data transfer. The DLAB bit must also be initialized at is used as both the Receiver Buffer Register and the Transmit Holding Register. Both of which are set at the LCR register. The LCR register is also responsible for setting the start and stop bits of the UART communication.

−	[[File: ~~Baud Rate~~.png\| frame \| center\| <center> '''Figure 6. Baud Rate Equation''' </center>]]	+	[[File: CmpE146 F16 T5 BaudRate.png\| frame \| center\| <center> '''Figure 6. Baud Rate Equation''' </center>]]

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 We have uploaded the video onto YouTube and the link below will allow you access to the video.
-https://youtu.be/gaMJuxoMcQs
+https://youtu.be/OeIFKckJA0c
 === Project Source Code ===

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 We have included detailed hardware schematics and the interface of each component.
-[[File: Hardware Diagram.png| frame | center| <center> Figure 1. Hardware Diagram </center>]]
+[[File: CmpE146 F16 T5 Hardware Diagram.png| frame | center| <center> Figure 1. Hardware Diagram </center>]]
 ==== Pixy Camera ====
 The Pixy Camera uses a color-based filtering algorithm to detect objects. Pixy can easily connect to lots of different controllers because it supports several interface options, like UART communication that is being used for the project. The information that is being sent out from the Pixy Camera to the SJOneBoard is the sync word (0xaa55), checksum (sum of all 16-bit words 2-6), signature number, x center of object, y center of object, width of object, height of object. All this information lets us know where the object is in frame, how big it is and the color as well.
-[[File: Pixy Camera.jpg| frame | center|<center>'''Figure 2. Pixy Camera'''</center> ]]
+[[File: CmpE146_F16_T5_Pixy_Camera.jpg| frame | center|<center>'''Figure 2. Pixy Camera'''</center> ]]
 ==== Pixy Camera Mount ====
 The Pixy Camera Mount was made so the camera had a place to sit on. The mount is very useful when testing or using this camera, because then no one has to hold the camera while using it. Instead the camera can rest on the mount which can be placed anywhere and allows easy access to the camera. This way the camera also has the ability to move left - right and up - down.
-[[File: Pixy Camera Mount.jpg| frame | center| <center> '''Figure 3. Pixy Camera Mount''' </center>]]
+[[File:CmpE146_F16_T5_Pixy_Camera_Mount.jpg| frame | center| <center> '''Figure 3. Pixy Camera Mount''' </center>]]
 ==== PWM Servos ====
 Pulse With Modulation Servos are useful for this project, since they allow the camera to move left - right and up - down. Pulse width modulation allows us to vary how much time the signal is high in an analog and this lets us control how the servo moves. With a pulse in the middle, the servo motor will rest at 90 degrees. With the low pulse, the servo will be at the 0 degree and with a large pulse, the servo will be at 180 degrees. Once we receive information from the Pixy Camera we can then modify the position of the servos to move along with the object.
-[[File: Servo Motor.jpg| frame | center| <center> Figure 4. '''PWM Servo Motor''' </center>]]
+[[File: CmpE146_F16_T5_Servo_Motor.jpg| frame | center| <center> Figure 4. '''PWM Servo Motor''' </center>]]
 ==== SJOneBoard ====

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 === Project Source Code ===
-*  [https://sourceforge.net/projects/sjsu/files/CmpE_S2016/ Sourceforge Source Code Link]
+https://github.com/nsarras/Object_Detector
 == References ==

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 === Project Video ===
 We have uploaded the video onto YouTube and the link below will allow you access to the video.
-|https://youtu.be/gaMJuxoMcQs
 === Project Source Code ===