Sunday, June 15, 2008

It Moves!

Finally, after months of mucking around, the robot moves under its "own" steam.

Since my last post, I have made a small change to the code with the addition of a very simple "fuzzy" motor control algorithm. Specifically, the offset of the target in the camera's view directly influences the pause between switching the motor on and then off again. This allows for large corrections initially, followed by small ones as the robot locks on. These "on" durations can be clearly heard in the video. I have also uploaded the program currently in use here.

Oh, and to the cross-platform abilities of Python, the laptop used for this demo is running Vista, and all I had to do was to install the two USB-RS232 adaptors (from here), set-up the baud rates, change to code to match the allocated ports, and it worked first go!

Next step, installing Python on the MicroClient Jr.