Canada
Asked — Edited

New Possibe Plugin/Feature Request. Clicksteer?

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I had briefly touched on this in one of my other threads.... Anyway, I thought of a good idea (well, I think so anyway) for a plugin or new feature for the camera control... Click steer.... So what it would do is if you have a pan and tilt setup with the ezb4 camera you would be able to click on an area of the camera image the x and y servo would move to centre in on the area you clicked.... For example you click on the top left corner of your camera's image, the x and y servo would attempt to centre the camera on the top left corner of the image...

Also, you can use the same principal to steer the robot while it is moving forward... Click left on the camera image and the robot will steer proportionally to the left depending how far left in the image you clicked... And of course same for the right... So steering the robot using your mouse and camera image...

I could probably hack something up using the plugin Remote mouse... However that would mean I could never move the camera control or it would throw everything off...


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Canada
#10  

@thetechguru,

Quote:

Thia is very similar to something I want to achieve, although more autonomous. I want to recognize an object. By a combination of pan/tilt and robot poaition adjustments drive towards it, adjusting the camera as I get closer so it is always centered in view. When the camera position indicates I have reached the object, execute an AutoPosition action to have an arm pick up the object.
I do the first part of this with the camera controls. I have my InMoov robot look for an object, I use a red ball, by panning left and right. Once the object is centered , the robot moves toward the object and it keeps it centered, it stops moving when it can no longer see it. It would be easy then to have it reach out and take on object handed to it. I haven't tried to get it to pick up the object off of a table but it think it is doable. I can do it with my robotic arm. It will search for, say a red object, once it finds and centers it in the camera, it reaches out and picks it up.

#11  

Bob, is your project posted so I can look at what it is doing?

Alan

Canada
#12  

Here it is,



Sayezb("OK")

sleep(1000)
ControlCommand("Script Manager", ScriptStart, "Anti collision")


:step 2
ControlCommand("Camera", CameraServoTrackEnable)
ControlCommand("Camera", CameraColorTrackingEnable, "red")

#center camera on object
if($Cameraistracking = 1)
sleep(500)

GoTo(step 5)

Else
ServoDown(D1,10)
servospeed(D1,6)
sleep(700)
endif
$x=Getservo(D1)
if($x < 90)
goto(step 3)
#endif
sleep(1000)
else
goto(step 2)
endif

:step 3
ControlCommand("Camera", CameraServoTrackEnable)
ControlCommand("Camera", CameraColorTrackingEnable, "red")

if($Cameraistracking = 1)
sleep(500)

GoTo(step 5)
else
ControlCommand("Camera", CameraServoTrackDisable)

ServoUp(D1,10)
servospeed(D1,6)
sleep(700)
endif

$x=Getservo(D1)
if($x>134)

goto(step 2)
sleep(1000)
else
GoTo(step 3)
endif


:step 5
Waitfor($cameraverticalquadrant = "middle" and $camerahorizontalquadrant = "middle",1000)
Sleep(300)

Servo(d1,124)
sleep(300)
ControlCommand("Camera", CameraMovementTrackEnable)
ControlCommand("Camera", CameraServoTrackDisable)
ControlCommand("Auto Position", AutoPositionFrame, "Travelling", 25,3,3)

if($CameraisTracking = 0)
goto(step 2)

endif
#13  

Thanks Bob,

That will get me started.

Canada
#14  

My pleasure, always happy to share. If we go any further with this, I think we should start another thread. Although some of what you are trying to do is related to Richard's original question, I think we are close to hijacking this thread.

#15  

No worries guys... I get ideas from what you post and talk about here too....

#16  

Funny enough I have something very similar to what Bob posted... It's an auto docking routine for one of my rovers that uses colour tracking, a ping and an IR sensor (like the one I suggested to @Bob for his inMoov's) to locate and dock to recharge.... I wrote it as a small part of my quest to achieve autonomous navigation with EZ Robot. It's a long way from being finished but I might just make a video and post my docking routine...

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