CMUCam2 ni OOPICga ulash: 5 qadam

2024 Muallif: John Day | [email protected]. Oxirgi o'zgartirilgan: 2024-01-30 13:28

ArsinioFollow tomonidan Muallifning yana:

CMUCam2 va OOPIC -ga qanday ulanish haqida umumiy ma'lumot.

1 -qadam: Adapter kabelini yaratish

1. Radioshakka o'ting va shulardan ikkitasini sotib oling: Erkak DB-9 Solder Cup Connector2. lehim pimi 5 A konnektidagi B konnektidagi 5 pingacha (agar ulagichga diqqat bilan qarasangiz, ular belgilangan) 3. lehim pin 2 A konnektidagi B 3 ulagichiga (agar ulagichga diqqat bilan qarasangiz, ular belgilangan) 4. lehim pin 3 A konnektidagi B 2 ulagichiga (agar ulagichga diqqat bilan qarasangiz, ular belgilangan)

2 -qadam: CMUCam -da Baud tezligini o'zgartiring

CMUCamera -ning uzatish tezligini 9600 -ga o'zgartiring (0 -pozitsiyaga o'tish moslamasini qo'shing).

3 -qadam: Standart dasturlash kabelini ulang va kodni yuklang

Standart dasturiy kabelni ulang va kodingizni yuklang. Bu erda LF va FD buyruqlari yordamida harakatni kuzatib boradigan misol kodi. U IOLine 7 -ni (LEDga ulangan) o'zgartiradi va CMUCam -dagi kuzatuv holati LEDini aks ettiradi.

& apos ******** ketma -ket port bilan bog'liq ob'ektlar ******** Dim serPort yangi oSerialPortDim txBuff sifatida yangi oBuffer27 va 27 ni o'zgartiradi, buferni kattaroq/kichikroq qiladi Dim rxBuff yangi oBuffer10Dim serialActive_LED sifatida yangi oDIO1Dim toggleSerial_Button As Yangi oDIO1Dim toggleSerial_Event sifatida yangi oEventDim toggleSerial_Wire sifatida yangi oWireDim serialReceive_Event sifatida yangi oEventDim serialReceive_Wire sifatida yangi oWire & apos ******** disk raskadrovka bilan bog'liq ob'ektlar ******** Dim statLED sifatida yangi oDIO1 va apos ******** ********************************** va apos*Umumiy kichik dasturlar & apos ****** ************************************ Sub main & aposinitialize main_init & chiqish niqobini o'chirish faqat CMUCAM_setOutputMask (2, 3) massa markaziga amal qiling va CMUCAM_loadDiffFrame () boshlang'ich farq ramkamizni yuklang va farqni hisoblashni boshlang CMUCAM_startDiffCalc (10) SubSub main_init -ni tugating va LED statLED. IOLine = 7 serialvinali -serialini yuklang) Tugatish Su b va aposprocesses qabul qilingan paketlar Sub processPacket () Dim mx As Byte Dim My As Byte. Location = 2 mx = rxBuff. Value rxBuff. Location = 4 my = rxBuff. Value & aposthe LED kameradagi kuzatuvchi LED bilan bir vaqtda miltillashi kerak Agar (mx = "0") Va (mening = "0") statLED = 0 Boshqa statLED = 1 IfEnd Sub & apos tugasa **************************************** **** va apos*CMU Cam funktsiyalari*& apos ************************************* ******* & apossets berilgan LEDni yoqish, o'chirish, avtomatik va aposparamga olib o'tish) Yangi kompilyatorda Bayt va aposVString ishlamagani uchun … va eskisiga ishonch yo'q & apostxBuff. VString = "L0 0" & qo'lda buyruq satrini qo'lda o'rnatish txBuff. Location = 0 txBuff. Value = "L" txBuff. Location = 1 va aposthe s. tr $ funktsiyasi achchiq … shuning uchun hozir bu sodir bo'lmoqda = 13 & serial_SendBufferEnd Sub buyrug'ini uzatish & ramSub CMUCAM_loadDiffFrame () ning dastlabki farqini yuklash va qo'lda txBuff. Location = 0 txBuff. Value = "L" txBuff. Location = 1 txBuff. Value = "F" tx 2. Value = 13 & serial_SendBufferEnd Sub buyrug'ini bekor qilish va kadrlar farqi va aposparam chegarasi (0-9) Sub CMUCAM_startDiffCalc (th By As Thire) Dim o'n as Byte & apossetup buyruqlar qatorini qo'lda txBuff. Location = 0 txBuff. Value = "txBuff. Value =" 1 txBuff. Value = "D" txBuff. Location = 2 txBuff. Value = "" txBuff. Location = 3 tens = thresh/10 txBuff. Value = serial_toChar (o'nlab) txBuff. Location = 4 tens = thresh/10 txBuff. Value = serial_toChar (thres-tens) txBuff. Location = 5 txBuff. Value = 1 3 va serial_SendBufferEnd Sub buyrug'ini bekor qilish va chiqish niqobi va aposparam paketini niqoblash uchun paket turi (0, 1, 2 va boshqalar) 46-betga qarang va aposparam niqobining qiymati qo'llanilishi uchun (0-255) Sub CMUCAM_setOutputMask (packetType As Byte, mask as Byte) Dim yuzlab. As Byte Dim o'nlab As Byte & apossetup buyruq satrimiz qo'lda txBuff. Location = 0 txBuff. Value = "O" txBuff. Location = 1 txBuff. Value = "M" txBuff. Location = 2 txBuff. Value = "" va txBuff turi. Manzil = 3 txBuff. Value = serial_toChar (packetType) txBuff. Location = 4 txBuff. Value = "" va txBuff. Location = 5 yuz = niqob/100 txBuff. Value = serial_toChar (yuzlab) txBuff. Location = 6 tens = (mask-yuzlar)/10 txBuff. Value = serial_toChar (o'nlab) txBuff. Location = 7 txBuff. Value = serial_toChar (mask-yuzlab-o'nlab) & aposcarriage txBuff. Location = 8 txBuff. Value = 13 & serial_SendBufferE buyrug'ini bekor qilish*. ******************************************** Umumiy ketma -ket kichik dasturlar *va apo s ****************************************** va serialni aposinitsializatsiya qiladi portSub serial_init () va ketma -ket portni yoqish va o'chirish tugmachasini ochish (ishga tushirish uchun yoqish, dasturni o'chirish) toggleSerial_Button. IOLine = 5 toggleSerial_Button. Direction = cvInput toggleSerial_Wire. Input. Link (toggleSeral_Button. Havola (toggleSerial_Event. Operate) toggleSerial_Wire. Operate = cvTrue & aposinitialize bir voqea bizning ma'lumotlarni bufer bufererive_Wire. Input. Link (serialPort. Received) serialReceive_Wire. Output. Link (seriyali = 0 & serialPort. Baud = cv9600 & aposinitialize ketma -ket portimiz LED serialActive_LED. IOLine = 6 serialActive_LED. Direction = cvOutput & aposwit bu erda ketma -ket portimiz faollashguncha kutamiz serialPort. Operate = cvFalse bizni qabul qiladi va WendEnd yuboradi Paketni to'ldirishSub serialRe ceive_Event_Code () & apos.received 4 baytli tampon bo'sh bo'lganda bo'sh bo'ladi. Buferni rxBuff. Location = 0 boshiga qayta o'rnatish serialPort. Operate = cvFalse serialActive_LED = 0 If End End & Apos bir raqamli raqamni belgiga o'zgartiradi serial_toChar (inVal As Byte) Byte Dim retVal As Byte Case inVal Case 0 retVal = "0" Case 1 retVal = "1" Case 2 retVal = "2" Case 3 retVal = "3" Case 4 retVal = "4" Case 5 retVal = "5" Case 6 retVal = "6" Case 7 retVal = "7" Case 8 retVal = "8" Case 9 retVal = "9" oxiri serial_toChar = retValEnd funktsiyasini tanlang ds txBuff & apos -dagi ma'lumotlar Eslatma: buferning oxirida tashish qaytarilishi (13) borligiga ishonch hosil qiling !! serial_SendBuffer () va har bir baytni jo'natish orqali tugatish, txBuff. Location = 0 1 serialPort. Value = txBuff. Value ooPIC. Delay = 1 & aposm bu kerak emas, agar bu vagonning qaytishi bo'lsa txBuff. Value = 13 & aposbreak bizning tsikldan qaytish End & if aposgo keyingi belgiga txBuff. Location = txBuff. Location + 1 WendEnd Sub

4 -qadam: Dasturlash ulagichini uzing

Dasturlash ulagichi uzilganidan so'ng, yangi kabel moslamasini quyida ko'rsatilgan tarzda ulang. 1 -qadamda ishlab chiqarilgan adapter CMUCamni OOPICga to'g'ridan -to'g'ri ulash imkonini berishi kerak

5 -qadam: Serial aloqani boshlash uchun tugmani bosing

IOLine 5 tugmasi CMUCam va OOPIC o'rtasidagi ketma -ket aloqani boshlaydi. Ketma -ket port dasturlash uchun ham, CMUCam uchun ham ishlatilgani uchun, ehtimol, ikkalasini almashtirishning boshqariladigan usuli bo'lishi kerak.

Bu tugma bosilmaguncha dastur ishlamaydi. Agar siz yana tugmani bosgan bo'lsangiz, ketma -ket port ishlamay qoladi, bu sizga dasturlash imkonini beradi. IOLine 6 -dagi LED joriy ketma -ket port holatini ko'rsatadi (yoniq - faol, o'chirilgan - dasturlash uchun tayyor).