Re: [E-puck-user] E-puck Camera Problem

[Duarte Dias]

Hi Gilles,

The e-puck I'm using has the number 2412, thus the model must be 6030 (what
is the diference between 6060 and 6030). I later confirmed the model by
adapting the part of the code of e_po_init_cam() where they retreive the
camera model. It is effectively a 6030 ^^.

In a few answers before from me  to Sergi, I said that I wasn't including
e_interrupt.s (part of the "fast_2_timer") into my project. The code
compiles without the asm file, but when the e-puck boots it exibits the
reboot loop behaviour I couldn't explain. This would happen using the 3030,
6030 or  models. When I included the e_interrupt.s the example worked
very well, for the  model (and probably the 6030)  =) 

The empty buffer that I was obtaining using the "slow_3_timer" was probably
that there is only the 3030 model within this library, and this e-puck is a
6030. There was no reboot loop behaviour here because no e_interrupt.s
exists in the library project.

I'm now using the "fast_2_timer"  model and evrything turned out great
:D !!

Just a last question regarding your answer, Giles:
 Is the BTcom program the one that is to be used with the matlab
interface (epic)?

I cannot stress enough my gratitude for the help u guys gave me. Thank u so
much !

Duarte

2011/3/1 Gilles Caprari 

> 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
> 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 po library. The thing is the po 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 po 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 po 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 )
> why the first is not updated? Because I started to download that one thus
> never heard of the po 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 
>
>> Here you have:
>>
>>
>> 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 
>>
>>>  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 j

Re: [E-puck-user] E-puck Camera Problem

[Gilles Caprari]

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 


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 po library. The thing is the po 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 po 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 po 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 )
why the first is not updated? Because I started to download that one 
thus never heard of the po 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 >


Here you have:


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 mailto:duartecdiasp...@gmail.com>>

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 mailto:storrel...@bdigital.org>>

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_po_init_cam();
e_po_config_cam((ARRAY_WIDTH
-160)/2,(ARRAY_HEIGHT-160)/2, 160,160,4,4,RGB_565_MODE);
e_po_write_cam_registers();

Try to have a look at the examples that come with the
library downloadable from e-puck.org .


Sergi

2011/2/28 Duarte Dias mailto:duartecdiasp...@gmail.com>>

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 librar

Re: [E-puck-user] E-puck Camera Problem

[Sergi Torrellas]

Hi Duarte,

You should be able to get the model of the camera by using this library as
you said.
To be honest, the questions you pose are too far for my knowledge. Sorry for
that.

Sergi


2011/2/28 Duarte Dias 

> 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 po library. The thing is the po 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 po 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 po 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 )
> why the first is not updated? Because I started to download that one thus
> never heard of the po 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 
>
>> Here you have:
>>
>>
>> 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 
>>
>>>  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 
>>>
 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_po_init_cam();
 e_po_config_cam((ARRAY_WIDTH -160)/2,(ARRAY_HEIGHT-160)/2,
 160,160,4,4,RGB_565_MODE);
 e_po_write_cam_registers();

 Try to have a look at the examples that come with the library
 downloadable from e-puck.org.


 Sergi

 2011/2/28 Duarte Dias 

> 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 
>
> Hi,
>>
>> Are you sure you have a po3030 or a po6060?
>>
>> Sergi
>>
>> 2011/2/28 Duarte Dias 
>>
>>>   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);
>>>
>>> //confi

Re: [E-puck-user] E-puck Camera Problem

[Duarte Dias]

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 po library. The thing is the po 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 po 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 po 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 )
why the first is not updated? Because I started to download that one thus
never heard of the po 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 

> Here you have:
>
>
> 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 
>
>>  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 
>>
>>> 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_po_init_cam();
>>> e_po_config_cam((ARRAY_WIDTH -160)/2,(ARRAY_HEIGHT-160)/2,
>>> 160,160,4,4,RGB_565_MODE);
>>> e_po_write_cam_registers();
>>>
>>> Try to have a look at the examples that come with the library
>>> downloadable from e-puck.org.
>>>
>>>
>>> Sergi
>>>
>>> 2011/2/28 Duarte Dias 
>>>
 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 

 Hi,
>
> Are you sure you have a po3030 or a po6060?
>
> Sergi
>
> 2011/2/28 Duarte Dias 
>
>>   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
>> sta

Re: [E-puck-user] E-puck Camera Problem

[Duarte Dias]

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 

> Hi,
>
> Are you sure you have a po3030 or a po6060?
>
> Sergi
>
> 2011/2/28 Duarte Dias 
>
>>   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?
>>
>> ___
>> E-puck-user mailing list
>> E-puck-user@gna.org
>> https://mail.gna.org/listinfo/e-puck-user
>>
>>
>
>
> --
>   *SERGI TORRELLAS SOCASTRO
> Desenvolupador
> R+D Salut
>
> M. 616.21.72.97**
> *storrel...@bdigital.org
>
> *BARCELONA DIGITAL CENTRE TECNOLÒGIC*
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Re: [E-puck-user] E-puck Camera Problem

[Sergi Torrellas]

Hi,

Are you sure you have a po3030 or a po6060?

Sergi

2011/2/28 Duarte Dias 

> 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?
>
> ___
> E-puck-user mailing list
> E-puck-user@gna.org
> https://mail.gna.org/listinfo/e-puck-user
>
>


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