http://gcat.davidson.edu/GcatWiki/api.php?action=feedcontributions&feedformat=atom&user=MamohornGcatWiki - User contributions [en]2026-05-17T14:17:42ZUser contributionsMediaWiki 1.28.2http://gcat.davidson.edu/GcatWiki/index.php?title=Team_Commando&diff=14545Team Commando2012-05-16T03:56:45Z<p>Mamohorn: </p>
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<div>==Navigation==<br />
<br />
Command Module Script: https://www.dropbox.com/s/t0693qp3gpuazh6/Command%20Module%20Script.c<br />
<br />
==Image Processing==<br />
*Camera<br />
**Logitech Orbit (on a stick)<br />
<br />
*Software<br />
**Matlab create toolbox<br />
***http://www.usna.edu/Users/weapsys/esposito/roomba.matlab/<br />
**Roborealm<br />
***useful demo: http://www.roborealm.com/tutorial/Fun_with_Roomba/slide070.php<br />
<br />
*Method<br />
**attach laptop to iRobot<br />
**receive signal from robot when it has arrived in room via command module serial ports => matlab<br />
**webcam pans and roborealm scans for magenta<br />
***matlab checks to see if roborealm has found magenta at every degree of the pan<br />
****if found, places a one in the vector entry corresponding to that room<br />
<br />
*Current dataset<br />
**26 closed windows<br />
**26 open windows<br />
**https://www.dropbox.com/sh/hx5rwp9ilakwg5c/8Yf4twUjV1<br />
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*RoboRealm<br />
**Color to detect: magenta?<br />
**attach color to bottom of window so can only be detected when open<br />
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<br />
*What We Have So Far:<br />
**RoboRealm module string to find magenta blobs and control Orbit<br />
**MatLab script that opens RoboRealm and controls camera/gets magenta detection info<br />
**sticker mockup<br />
***[[Media:WindowSticker.jpg]]<br />
<br />
==To-Do:==<br />
**Get magenta tape<br />
**test Orbit in different light conditions<br />
**look into more filter options<br />
***sunglasses seemed like an option<br />
***Rob McSwain has been emailed about video filters<br />
**Figure out exact frequency of magenta and how that corresponds to hue/intensity in RoboRealm so that extraneous magenta objects are not picked up<br />
**Add something to MatLab script to interpret the vector once the Roomba has been everywhere<br />
**Test/figure out the serial port pings to MatLab<br />
*roborealm over rtacks while panning; needs a second to get oriented<br />
**change matlab script to only check for blobs once camera has paused for a second.<br />
<br />
<br />
*The Most Current To-DO:<br />
**We'll also fine-tune the script so the center of gravity doesn't appear when it isn't supposed to<br />
**Communication between command module and matlab<br />
***serial port<br />
***microphone<br />
**Jonah is going to add pause-checks to the MatLab script so it doesn't mis-classify<br />
**A beautiful sticker will be designed with the specs we currently have<br />
**And the world shall rejoice in itself and its conservation of energy<br />
<br />
==What "Works"==<br />
===Navigation===<br />
*Command module script:<br />
<br />
===Detecting Windows===<br />
*Matlab script:<br />
**[[Media:RoboRealmControl.m.txt]]<br />
*RoboRealm filters:<br />
**for at night with lights on<br />
**for at night with lights off and flashlight<br />
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===Communication Between Detection and Navigation===<br />
*initialize serial port connection:<br />
**[[Media:InitializeComMod.m.txt]]<br />
*read input:<br />
**[[Media:ReadCommand.m.txt]]<br />
*motion detection script<br />
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==Contacting our iRobot create==<br />
*send your fan mail to davidsonirobot@gmail.com</div>Mamohorn