Hi, It's better to ask such question on the mailing list. There is two way to communicate with the e-puck BTcom protocol. In binary mode (when command a negative) In ascii mode (when command are positive) In binary mode (one use for the camera datas) you can stack the commands, and then gets the answer when you send à "0". So probably its what it is missing in your protocol. Also I recommend to use only binary commands... (the same commands as in ascii but negative)
To better understand the protocol have a look on its code... Bonani Michael ------------------------------------------------------------------------------------------ Tél : + 41 21 693 78 69 Fax : + 41 21 693 78 07 E-mail : [email protected] Adress: EPFL-STI-IPR-LSRO1 MEB 3 30 Station 9 1015 Lausanne > -----Original Message----- > From: www-data [mailto:[email protected]] On Behalf Of Stephan > Zibner > Sent: Tuesday, July 27, 2010 9:06 AM > To: Bonani Michael > Subject: epuck: Using the E-Puck camera with Matlab > > This is an enquiry e-mail via http://www.e-puck.org from: > Stephan Zibner <[email protected]> > > Dear Michael Bonani > I'm an employee of the Institut für Neuroinformatik in Bochum, Germany and > our work group bought three sets of E-Puck robots a year ago. We are very > interested in using the built-in camera of the E-Puck from within Matlab > and did spend quite a while on searching for a working solution. Attempts > on getting camera images with the provided ePic Matlab interface failed > because the program was not able to establish the serial connection to the > robot (the required toolboxes are installed). Using our own C-code wrapped > in mex files allowed us to control the robot with all the given letter > commands (like seen by sending 'H' for help) but this set of commands does > not comprise getting a camera image. Sending -'I' as seen in the ePic code > did not return the expected current resolution, followed by image data. > Only zeros are returned instead. What are we doing wrong? Is this maybe a > known issue? Our test platforms are Ubuntu 32bit and 64bit together with > Matlab 7.9.0 (R2009b) and a bluetooth connection via rfcomm. ePic worked > fine with the same Matlab version on the latest Mac OSX. > I would appreciate it, if you could provide us with a solution for the > given problem or point us to someone who can help with this. > Best regards > Stephan Zibner, M.Sc. > Institut für Neuroinformatik > Ruhr-Universität Bochum > 44780 Bochum, Germany
BTcom.c
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