Hi,
Duarte, you could save time if you start from a working program. Matlab
communication including pictures exists.
BTcom and other programs, already answers to image requests from a PC.
so you do not need to modify the e-puck code. You can optimize and
personalize it after all works.
the svn snapshot that sergi pointed out is one source:
http://www.e-puck.org/index.php?option=com_phocadownload&view=category&id=11:library&Itemid=38
<http://www.e-puck.org/index.php?option=com_phocadownload&view=category&id=11:library&Itemid=38>
otherwise the svn itself
http://gna.org/projects/e-puck
or the wiki on GCtronic
http://gctronic.com/doc/index.php/E-Puck#Software
and matlab interface:
http://www.e-puck.org/index.php?option=com_content&view=article&id=29&Itemid=27
Some answers to your questions:
Starting from e-puck 1500 the camera is a po6060.
The driver is only available for "fast_2_timer".
Empty buffer probably shows that the camera is used fully correctly.
thus it is advised to start with a proven working program.
Thanks Sergi for your answers and propositions.
good luck,
gilles
On 28.02.2011 19:26, Duarte Dias wrote:
Sergi,
I was using the fast_2_timer library. When I switch to the
slow_3_timer library a buffer is effectively transfered throught the
bluetooth. But this buffer consists of a vector of zeros, no matter
the color environment the e-puck camera is looking at.
I switch to the poxxxx library. The thing is the poxxxx library only
exists on the fast_2_timer. The problems are the same (with the
fast_2_timer we have a rebooting loop and with slow_3_timer we have a
buffer of zeros).
With the search I did through the poxxxx library code, I understanded
that this library has the two models of the camera (3030 and 6030)
included, and the interface just acts as a switcher between the two of
them. When I init the camera, the model of the camera is calculated
and stored in a variable. The general functions just use that variable
as a switch between the functions of the two models, thus choosing
allways the right function regardless of the model we are in.
What I don't understand:
1 - why do the fast_2_timer library doesn't work (regardless the model
I have)?
2 - what is the difference between fast_2_timer library and
slow_3_timer library?
3 - why do the slow_3_timer doesn't have a poxxxx interface and there
is no library for the model 6030?
4 - why do I get a buffer with zeros with the fast_2_timer library?
5 - where is the slow_3_timer library for the po6030 model?
6 - in the site you told me to download the libraries there are two
files with the same description:
epucklib.zip (only have model 3030)
e-puck-latest-svn-trunk.tar.gz (have the models 3030,
6030 and a the model switcher xxxx)
why the first is not updated? Because I started to download that one
thus never heard of the poxxxx library before
ONE MORE THING: I'm not building my application on the library
projects. I just take the .c and .h I need and do my own project. In
the fast_2_timer library, e_interrupt.s and cam_fast.a are not
included - are these files important? The project compiles!
Sry for the length of the mail
2011/2/28 Sergi Torrellas <[email protected]
<mailto:[email protected]>>
Here you have:
http://www.e-puck.org/index.php?option=com_phocadownload&view=category&id=11:library&Itemid=38
<http://www.e-puck.org/index.php?option=com_phocadownload&view=category&id=11:library&Itemid=38>
Sorry for the misunderstanding ...
There are many examples there that can help you.
Sergi
2011/2/28 Duarte Dias <[email protected]
<mailto:[email protected]>>
Sorry Sergi but I don't understand what librarys you want me
to download. Was the link u sent suppose to direct me to the
libraries? because instead I just go to a Apach Server
Debugging Page.
Duarte
2011/2/28 Sergi Torrellas <[email protected]
<mailto:[email protected]>>
Hi Duarte,
The po3030K or po6060k are the model of the integrated
camera of the e-puck. However, it exists generic calls
independent of the camera model. Something like:
e_poxxxx_init_cam();
e_poxxxx_config_cam((ARRAY_WIDTH
-160)/2,(ARRAY_HEIGHT-160)/2, 160,160,4,4,RGB_565_MODE);
e_poxxxx_write_cam_registers();
Try to have a look at the examples that come with the
library downloadable from e-puck.org <http://e-puck.org/>.
Sergi
2011/2/28 Duarte Dias <[email protected]
<mailto:[email protected]>>
Sergi,
I am very dum in camera concepts
I don't know what is the diference of a po3030 and
po6060. I heard the term po6060 but don't know what it is.
If it is this the problem what should I do? I presume
there is a po6060 camera library but I don't have it
on the downloaded libraries.
Thx for the reply
2011/2/28 Sergi Torrellas <[email protected]
<mailto:[email protected]>>
Hi,
Are you sure you have a po3030 or a po6060?
Sergi
2011/2/28 Duarte Dias <[email protected]
<mailto:[email protected]>>
Hi,
I'm trying to extract an image from the epuck
camera to the matlab using the bluetooth
connection.
I based the image extraction on the first
example of the e_po3030k.h, and used the uart
interface to transfer the buffer, containing
the image, from the e-puck to the matlab. All
the libraries (matlab-uart and camera) were
retreived from the epuck
site/downloads/library/e-puck-latest-svn-trunk
The code is the following:
#include "e_uart_char.h"
#include "e_init_port.h"
#include "e_po3030k.h"
#include "matlab.h"
//buffer containing the image
char buffer[2*40*40];
int main(void)
{
//initializations
e_init_port();
e_init_uart1();
e_po3030k_init_cam();
//begining of the program
e_send_char_to_matlab("CHECKPOINT1",11);
//configuring the camera
e_po3030k_config_cam((ARRAY_WIDTH
-160)/2,(ARRAY_HEIGHT-160)/2,60,160,4,4,RGB_565_MODE);
//?????dont know what is this??????
e_po3030k_write_cam_registers();
//start capturing the image
e_po3030k_launch_capture(buffer);
//after launching the image capture - the
e-puck arrives to this stage
e_send_char_to_matlab("CHECKPOINT2",11);
//wait for the image to be captured and
the data is on the buffer
while(!e_po3030k_is_img_ready());
//when the image is ready to be sent -
E-PUCK NEVER ARRIVES TO THIS STAGE
e_send_char_to_matlab("CHECKPOINT3",11);
//sending the data to MATLAB - 40*40
RGB565 (16 bits-2 bytes) picture
e_send_char_to_matlab(buffer,2*40*40);
//wait for the epuck to send the data
while(e_uart1_sending());
return 0;
}
I can compile it and upload it to the e-puck.
But when the e-pucks boots, it seems that it
stays stuck on a resetting and booting loop. I
can see this because of the checkpoints I put
the in the program.
The e-puck keeps repeatedly printing
CHECKPOINT1 and CHECKPOINT2 and never arrives
to CHECKPOINT 3. I tried to issuie CHECKPOINT2
after a certain time has passed (with a
timer). It's seems that after a few seconds
(1/2 seconds) of delay the program starts only
issueing CHECKPOINT1, so I presume the
rebooting ocurres somewhere arround that delay.
I can't seem to get arround this problem.
Could someone please help?
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*SERGI TORRELLAS SOCASTRO
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M. 616.21.72.97**
*[email protected] <http://bdigital.org/> *BARCELONA
DIGITAL CENTRE TECNOLÒGIC*
Roc Boronat 117, 5a planta, 08018 Barcelona
Tel. +34 93 553 45 40 - Fax. +34 93 553 45 41
www.bdigital.org <http://www.bdigital.org/>
--
*SERGI TORRELLAS SOCASTRO
Desenvolupador
R+D Salut
M. 616.21.72.97**
*[email protected] <http://bdigital.org/> *BARCELONA DIGITAL
CENTRE TECNOLÒGIC*
Roc Boronat 117, 5a planta, 08018 Barcelona
Tel. +34 93 553 45 40 - Fax. +34 93 553 45 41
www.bdigital.org <http://www.bdigital.org/>
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------------------------
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GCtronic Sagl, Electronics& Mechatronics
web: www.gctronic.com E-mail: [email protected]
Post: Via Cassarinetta 2, CH-6900 Lugano, Switzerland
Tel: +41 91 630 2149 Fax: +41 43 556 8006
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