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Matt
05-29-2008, 11:02 AM
OMG Lasers!!! Pew! Pew!

SO?!

Who is going to be the first person to add a laser to their robot? :p

http://www.trossenrobotics.com/images/blogposts/2008/sparkfunlaser/lastertop.jpg (http://blog.trossenrobotics.com/index.php/2008/05/28/ttl-controlled-laser/)

Adrenalynn
05-29-2008, 11:11 AM
How long did it take to punch a hole in that quarter? Pew Pew!

Seriously though - great for visual range estimation using cameras and when operating remotely in the first-person perspective from an onboard camera...

LinuxGuy
05-29-2008, 11:17 AM
Seriously though - great for visual range estimation using cameras and when operating remotely in the first-person perspective from an onboard camera...
I have a couple of these in my SFE cart now. I want to build the robot with the friggin' laserbeam on its head. :happy: I've been wondering if these could be paired with the small 1.3 MPixel cameras for range finding..

8-Dale

Adrenalynn
05-29-2008, 12:25 PM
Yes and no. A 1.3MP camera is more than adequate for the job. But you can't do "true" rangefinding. It's more distance estimation by using where the laser falls versus what the camera can see. I've found it best for really close work where the laser is positioned such that it falls out of the camera's view closer than a couple inches.

4mem8
05-29-2008, 01:44 PM
Check out my RobosapienV2 on my robotic generic base guys it has two lasers, one green 35mw and a red 200mw danger, danger danger.It also has a WIFI camera pan/tilt on his left shoulder for laser tracking.

Here is a teaser using a red 200mw laser below
http://img411.imageshack.us/img411/9122/email200mwredlaser0006dj6.jpg


Red laser in V2's right hand.





http://img359.imageshack.us/img359/4374/email200mwredlaser0008sp9.jpg


Red and green laser beams.





http://img373.imageshack.us/img373/3308/email200mwredlaser0009tw0.jpg


Green 35mw and red 200mw lasers.





http://img358.imageshack.us/img358/6121/email200mwredlaser0010tx3.jpg

http://img142.imageshack.us/img142/4996/emailshoulderlasercannoik4.jpg


Laser 35mw green mounted on shoulder with double sided tape.and WIFI camera





http://img48.imageshack.us/img48/2225/emailshoulderlasercannoti8.jpg


Close up side view of WIFI camera and laser.





http://img442.imageshack.us/img442/8725/emailshoulderlasercannoyl5.jpg

Side view.

http://img157.imageshack.us/img157/489/topviewpowersupplyvoltava5.jpg

Final lay out of power supply system with the two laser output sockets.

http://img241.imageshack.us/img241/9858/emailpict0211gf7.jpg

System ready for testing.

http://img88.imageshack.us/img88/8398/poweredupue7.jpg
RSV2's power supply now fitted to my robotic base and fully working, You can see the power LEDS on indicating the output status.

DresnerRobotics
05-29-2008, 01:48 PM
Can it pop Repuballoons? :D

4mem8
05-29-2008, 01:51 PM
The 200mw red will pop balloons easy Tyberius, It will also burn through a plastic bag black of course.

Matt
05-29-2008, 10:27 PM
This is awesome. Can it be turned into a tutorial?

lasernerd
05-29-2008, 10:36 PM
What type of red laser is that. nm,brand?

4mem8
05-30-2008, 12:40 AM
Matt: I have a tutorial up for this project, Generic robotic base with RSV2 in the beta tutorial section.

4mem8
05-30-2008, 12:54 AM
Lasernerd: I had a look on the laser and there is no ref to what brand, I purchased it from Trademe.co.nz similar to your Ebay.

lasernerd
05-30-2008, 09:21 AM
Lasernerd: I had a look on the laser and there is no ref to what brand, I purchased it from Trademe.co.nz similar to your Ebay.


I was curious,because that beam and power looks like a very nice unit!

Is there a way for me to get ahold of one?

4mem8
05-30-2008, 12:57 PM
I can have a look on Trademe and keep an eye out for one, i think it cost me $245 NZ $'s.

Adrenalynn
05-30-2008, 01:12 PM
Maybe contact the seller if you still have the info and figure out where it comes from or at least what it is? I think a lot of people would be interested in it at that price!

4mem8
05-30-2008, 04:22 PM
Ok, Lasernerd here is one for sale on Trademe right now. http://www.trademe.co.nz/Electronics-photography/Other-electronics/Laser-pointers/auction-157992267.htm

And it's even cheaper than the one I got $140nz

lasernerd
05-30-2008, 05:25 PM
Hey 4mem8,, thank you!
that is a very good price!

lasernerd
05-30-2008, 05:26 PM
Oh,,and your robot is very cool!

LinuxGuy
05-30-2008, 05:28 PM
Yes and no. A 1.3MP camera is more than adequate for the job. But you can't do "true" rangefinding.
By adding the right components, could these lasers be used to make an inexpensive laser range finder? Even if it's short range, could it be more accurate than our current ultrasonic sensors?

8-Dale

Adrenalynn
05-30-2008, 05:39 PM
In fact, yes, they could, now that I think about it.

Let me consider the math for a bit and get back to you. I have an idea. . .

4mem8
05-30-2008, 05:41 PM
robotguy: That is possible with the right components, Although I have not tried it myself.

Adrenalynn
05-30-2008, 05:43 PM
Actually - I think you'll find that down to a centimeter or so will be dirt simple - and long range is less accurate but easier. More soon!

LinuxGuy
05-30-2008, 05:43 PM
In fact, yes, they could, now that I think about it.

Let me consider the math for a bit and get back to you. I have an idea. . .
Uh oh, another project.. ;) ;) It's not my fault, really! ;) This one could be really worthwhile for robotics.

8-Dale

4mem8
05-30-2008, 06:03 PM
Yep, it will be cool, good project to do, Need more time, need more time, need more time. he he.

Adrenalynn
05-30-2008, 06:28 PM
Consider this quick back-of-napkin sketch, and we'll "chat" later. . . I'd be interested in trying it...

LinuxGuy
05-30-2008, 06:35 PM
Consider this quick back-of-napkin sketch, and we'll "chat" later. . . I'd be interested in trying it...
Hmmmm, OK, so the camera has to be directly above the laser, which is a fixed distance. I don't see how to get the angles though. You are looking for the distance from laser to obstacle. You need angle-side-angle or side-angle-side, if I remember correctly, to solve for any of the others. It's been a LONG time since I did Trig or Geometry. I am going to have to brush up.

8-Dale

Adrenalynn
05-30-2008, 07:08 PM
Nope! Math is in the sketch (you can click on it twice and blow it up large). You're looking for the shift above centerline. Closer to centerline = further away. Just look for the brightest possible spot and count pixels. Uncalibrated Distance is (height above center) / (tan theta) in simplest form. We need to be a little smarter and look at the pixel pitch and come up with some error compensation, but in general, it's pretty trivial.

4mem8
05-30-2008, 07:18 PM
Man, I'd love to do math like that Adrenalynn, your qualifications are coming into play now, mine on RSV2's shoulder was trial n error, The WIFI camera just sits on top of the laser and I focused it into a fixed point, but I will look on with interest at your calculations here.

Adrenalynn
05-30-2008, 07:44 PM
There's a few people here I know will find it trivial. Sienna can handle that no problem.

LinuxGuy
05-30-2008, 07:53 PM
There's a few people here I know will find it trivial. Sienna can handle that no problem.
It would have been trivial to me, oh, many years ago. I have a hard time getting my head around math now though, but I think all I really just need is a refresher.

At least that's what I hope. :veryhappy: It's true when they say if you don't use it, you lose it, when it comes to stuff learned in school at any level.

8-Dale

4mem8
05-30-2008, 08:08 PM
10-4 on that comment roboguy. That's why I keep building robots hardware wise to keep my hand in, he he, the only trouble with that is I have a load of robots that need programming, That's why I am going to build a Lynxmotion J5 like Tyberius, At least that has an onboard ITX system that I can handle with Lynxmotions software.

LinuxGuy
05-30-2008, 08:53 PM
10-4 on that comment roboguy. That's why I keep building robots hardware wise to keep my hand in, he he, the only trouble with that is I have a load of robots that need programming, That's why I am going to build a Lynxmotion J5 like Tyberius, At least that has an onboard ITX system that I can handle with Lynxmotions software.
Well, you need to dig into software then!

It's really not that difficult to do. I've had my eye on the nano and pico ITX boards, but not to run Windows. More for software selection than anything. I'd really rather just be doing the software, but I haven't found anyone who will do all the mechanical stuff for me and isn't lots of miles away.

I am gradually inching towards when I can actually start writing and testing software for W.A.L.T.E.R. again, and have another two or three in the design stage (my RSRs). I think 4" x 4" is a nice size for a small 4WD rover. Too much smaller and I won't have enough room to attach stuff. :veryhappy:

8-Dale

4mem8
05-30-2008, 09:06 PM
M;mmmm It;s a pity that we live so far apart, I could do the hardware and you the software. I have a very good friend who lives in Jacksonville GWJax and that is what is happening to Wall-E, I have built most but not all the hardware and GWJax is programing it for me, he has also done some hardware. We communicate through AIM and video if we have to to explain things to each other. Not sure if I will ever get into software programing, I am currently trying to learn P-Basic which is pretty much a low as you can get compared to other software languages. W.a.l.t.e.r sounds like a cool bot Robotguy,I look forward to reading more as you go.

LinuxGuy
05-30-2008, 09:30 PM
I was doing some Googling around, looking for info on laser range finding and found this (http://www.seattlerobotics.org/encoder/200110/vision.htm), which I find interesting.

8-Dale

Adrenalynn
05-30-2008, 09:53 PM
Don't trust my design work, huh? :-P

LinuxGuy
05-30-2008, 10:28 PM
Don't trust my design work, huh? :-P
Oh, that isn't it at all. ;) You're the one that got me thinking about all this head hurting stuff. :P I trust yours and Sienna's designs. You two have impressed me quite a bit.

8-Dale

Adrenalynn
05-30-2008, 10:35 PM
No worries, I'm just teasin'. Once the garage, whitepaper, and first round certification are done - I'll build a prototype. Only about an hour or so to test it.

Sienna
05-30-2008, 11:39 PM
Um... so we are re-inventing a 1980's technology? Typically, they used to use this method with multiple laser line generators. Once you correct for lense aberation, you filter the red lines from the background. Now, depending on the geometry you are looking at, the lines will be broken up a bit. However, from that you can determine the geometry in front of the bot, and the breaks determine the edges of what you are looking at.

I will see if I can't find some reference in my college books.

In the meantime, take a look at the pictures on this page:
http://www.laserfocusworld.com/display_article/292406/12/none/none/Feat/MACHINE-VISION:-Laser-projections-assist-machine-vision-application

Adrenalynn
05-30-2008, 11:45 PM
Yes, we are. Because it's cheaper than a $5000 ranger. In fact, it's even cheaper than my $1200 Hilti.

I just demonstrated that it works down to a fraction of a cm using a $0.45 laser pointer and a $22 camera... Can you beat $22.45?

Photos later - my dinner date's here...

Edit: A $15 surplus barcode scanner would work quite well for its optics...

Sienna
05-31-2008, 12:05 AM
SHOOT! I hate accidently erasing my post because I accidently navigated away from the page! *grr*

Anyway... text books proved less then helpful. However, they did give me the correct name to look for. Which is "Light Stripe" Ranging/Imaging, whatever.

Take a look here for one example. (http://www.optical-metrology-centre.com/tech_briefs_light_stripe_triangulation.htm) (as a side note, I hate searching on the internet now.. its all commercial, no one has informative sites anymore, or if they do they are buried under all the ads :( )

Anyway, I wasn't saying it was a bad idea to resurrect this stuff, because you are right, it is cheap! I don't know about you, but I can't afford a SICK. Honestly, I have been thinking about implementing this for some time. I have been looking on ebay for laser line generators. It was also this task as to why I was asking for a red notch filter a while ago :P I just haven't had the time and drive yet to build one, because my tank isn't ready for it.

4mem8
05-31-2008, 01:21 AM
Cool stuff guys, Looking on with interest here.

Adrenalynn
05-31-2008, 02:41 AM
Exactly. It would be just as easy to say "there's no way I'm going to implement a bump-sensor. Those are sooo 1930's."

Where this stuff gets fun for me is thinking: "Ok - I have a working laser ranger with a chinese-junk laser pointer and a junky little camera. Now: How do I improve it without spending much money?" The first thing that comes to mind is a surplus barcode reader. You were looking for line generators - but did you look at barcode scanners - and most especially the matrix scanners? Now those little badboys have some rockin' cool optics!

MAKE: Magazine has an expression: "If you can't open it, you don't own it." For me, it's all about that concept...

Anyway, on to the experiment:

It works. It could stand with a lot of improvement, and I just don't have the time right now. I only did this tonight because I was waiting for my date - who was an hour+ late, so I had a little time to kill... The laser and the camera were mounted at 5 inches apart (arbitrary). The camera is a 280 line camera, so about 202,000 pixel. The pointer was crazy-cheap Chinese import. I bought ten FOB for $5 US...

http://www.jlrdesigns.com/4trc/ranger6.jpg

A little hard to see the fractions of an inch, but my toy was good down to a bit more than 1/8" from short range, better farther out... (The Hilti is calibrated down to 1/64)

http://www.jlrdesigns.com/4trc/ranger7.jpg

http://www.jlrdesigns.com/4trc/ranger5.jpg

Some day I'll do a tutorial and get rid of all the debug stuff out of my code - unless someone else beats me to it. The concept is pretty simple for a point-source. Find the single brightest pixel and calculate how far off the center line it is. Use the math I posted above. I did 25 measurements with the Hilti to calibrate the system with known values.

So, Dale - the answer to your question is a resounding "YES!" - your 1.3mpixel camera combined with the laser from Trossen can be used to do pretty accurate ranging. And will get horribly confused by really specular surfaces - although multi-bounce isn't an issue since we're looking for the brightest pixel.

The next step I'd do is use better optics and look at line break, as Sienna mentioned. Next from that would be a matrix scan.

A final point to consider is that either line or matrix can tell your bot where it's safe to go (most distant detection) and where it's not (closest detection).

Until I put a bunch of projects together, I'm done (per-force) experimenting with this concept myself for awhile. ;)

LinuxGuy
05-31-2008, 08:11 AM
Yes, we are. Because it's cheaper than a $5000 ranger. In fact, it's even cheaper than my $1200 Hilti.
That's why I am interested in this. It would be very nice if we had an inexpensive laser ranger/imager even I could afford. Being on a fixed income really sucks when I want to work with neat stuff like this.


I just demonstrated that it works down to a fraction of a cm using a $0.45 laser pointer and a $22 camera... Can you beat $22.45?
Oh, this is so cool! A fraction of a cm is wonderful! I can see a robot with two laser "eyes" that can measure distance from objects. This should be usable for mapping also. :)


Edit: A $15 surplus barcode scanner would work quite well for its optics...
Show me what parts I need to tinker with this. I suspect the software for this is going to be interesting to write. :)

8-Dale

LinuxGuy
05-31-2008, 08:34 AM
Some day I'll do a tutorial and get rid of all the debug stuff out of my code - unless someone else beats me to it.
This is something I would really like to tinker with! I am interested in a low cost solution that might be usable for mapping an environment as well as general range finding for obstacle avoidance and navigation.


So, Dale - the answer to your question is a resounding "YES!" - your 1.3mpixel camera combined with the laser from Trossen can be used to do pretty accurate ranging. And will get horribly confused by really specular surfaces - although multi-bounce isn't an issue since we're looking for the brightest pixel.
Oh, wonderful! My next question is: Can a reasonably accurate laser ranger be created that wouldn't cost more than $50.00 - $100.00?
How much accuracy and such can we buy for that price range, even at the $100.00 mark?

First of all, how good could we do with the CMOS Camera - 1300x1040 (http://www.sparkfun.com/commerce/product_info.php?products_id=8668) and the TTL-controlled laser module (http://www.trossenrobotics.com/store/p/5605-Laser-Module-Red-with-TTL-Control.aspx?a=blog)? These are components I can afford to work with, and there is now a CMOS Camera Breakout Board (http://www.sparkfun.com/commerce/product_info.php?products_id=7904) that should work with the camera. Being TTL controlled, the laser module could be pulsed at any frequency that might be required. Could a reasonable environment map (something actually usable by a robot) be created using these components and the right software?

You and Sienna are awesome!:veryhappy::veryhappy:

8-Dale

LinuxGuy
05-31-2008, 08:49 AM
Um... so we are re-inventing a 1980's technology?
Oh, not at all. This has the potential to bring the cost of laser range finding/mapping down to where "the rest of us" can afford to work with it. I can see putting something like this on my RSRs and definitely one or two of them on W.A.L.T.E.R. I'm already seriously considering adding a pan/tilt module on each side of W.A.L.T.E.R., and I already have them designed using SES components. This would be the perfect mount for a pair of inexpensive laser ranger/imagers. :veryhappy:


In the meantime, take a look at the pictures on this page:
http://www.laserfocusworld.com/display_article/292406/12/none/none/Feat/MACHINE-VISION:-Laser-projections-assist-machine-vision-application
Already looking. :happy:

I can see real application for this in robotics, and I think the RoboMagellan crowd would like it too.

8-Dale

Sienna
05-31-2008, 08:54 AM
Oh, this is so cool! A fraction of a cm is wonderful! I can see a robot with two laser "eyes" that can measure distance from objects.

This is exactly why the Surveyor robot (http://www.trossenrobotics.com/surveyor-srv-1-kit.aspx) has those two lasers methinks.... :P

LinuxGuy
05-31-2008, 09:07 AM
M;mmmm It;s a pity that we live so far apart, I could do the hardware and you the software.
I'd do 100% software if I could. I have to do some mechanical stuff though. or I won't have any robots to test stuff on. The internet can make many things possible that wouldn't be workable otherwise. I already have plenty of stuff to work on now though, and have a new project with a friend coming up too which I am extremely interested in - has to do with FPGAs, which I really want to learn to use in robotics. I think an FPGA connected to a nice ARM9 processor (like, umm, well, Hammer (http://www.tincantools.com/product.php?productid=16133&cat=0&page=1&featured) , for instance) would be an awesome combination. It's already been done on the Technologic TS-7800 (http://www.embeddedarm.com/products/board-detail.php?product=TS-7800).


I have a very good friend who lives in Jacksonville GWJax and that is what is happening to Wall-E, I have built most but not all the hardware and GWJax is programing it for me, he has also done some hardware. We communicate through AIM and video if we have to to explain things to each other.
That's the way to work together on the internet. Make the technology work for you. :veryhappy:


W.a.l.t.e.r sounds like a cool bot Robotguy,I look forward to reading more as you go.
Have you checked out the pictures Tyberius took of W.A.L.T.E.R.? I am going to try and have the front mounted arm working before the next PARTS (http://www.portlandrobotics.org) meeting, but I don't know if I will make that deadline or not. I'll hang whatever I can on this robot that I want to experiment with. :happy:

8-Dale

LinuxGuy
05-31-2008, 09:13 AM
This is exactly why the Surveyor robot (http://www.trossenrobotics.com/surveyor-srv-1-kit.aspx) has those two lasers methinks.... :P
No doubt! :P

I want one of those! :happy: It's a great platform that I could just use for software development. It's already got WiFi too! :veryhappy: There isn't much to add to it as far as hardware, other than maybe some other sensors like a Devantech Thermal Array Sensor (http://www.acroname.com/robotics/parts/R255-TPA81.html). I want to make a people/animal follower/tracker. :happy:

8-Dale

Adrenalynn
05-31-2008, 12:52 PM
Fascinating... Shining my cheapie laser pointer through the capsule of a bubble level gives a very nice line level. Works very well with a $0.75 level from Harbor Freight - with three of those capsules. The further it is away from an obstruction, the more spread-out it is, and vice-versa. With my pointer and capsule, it's about 1' at 2', and about .5" at 1". I haven't done any other measurements. It's just one of those things where I found a bubble level in the garage and had to shine a pointer through it. I've found all kinds of interesting lens effects that way. Anywho - with an n=2, it looks linear. Does it maintain linearity? A question for another day...

4mem8
05-31-2008, 01:51 PM
Adrenalynn: Just love your comment, I knocked this up whilst waiting for my date,, Ha ha, a real classic. nice one.

Adrenalynn
05-31-2008, 02:22 PM
Gotta be careful in US slang mentioning "knocked up" and "dating" in the same sentence. People can get the wrong idea... :o:eek::o

Sienna
05-31-2008, 06:20 PM
Hmm... I just bought two 10mW lasers off ebay... Why would I do that! :P

4mem8
05-31-2008, 06:36 PM
Adrenalynn: Sorry did not think of it that way.I retract my statement.

LinuxGuy
05-31-2008, 06:41 PM
Hmm... I just bought two 10mW lasers off ebay... Why would I do that! :P
Did you leave any for others? ;)

8-Dale

LinuxGuy
05-31-2008, 06:43 PM
OMG Lasers!!! Pew! Pew!

SO?!

Who is going to be the first person to add a laser to their robot? :p
See what happens when you cause people to think about something? It's all your fault! :P See what you have started? ;)

8-Dale

4mem8
05-31-2008, 07:23 PM
Dosn't take much to start something of does it! he he, Nice one Matt.

Adrenalynn
05-31-2008, 11:07 PM
Adrenalynn: Sorry did not think of it that way.I retract my statement.

No worries, mate! I was just playin' off the pun. :)

Adrenalynn
06-22-2008, 05:42 PM
Dale,

Have you tried to get anything out of that camera yet? I had a look at the datasheet on it. Here's wishing you luck. The hardware will be moderately tough, the software driver will be a KILLER.

LinuxGuy
06-22-2008, 06:17 PM
Have you tried to get anything out of that camera yet? I had a look at the datasheet on it. Here's wishing you luck. The hardware will be moderately tough, the software driver will be a KILLER.
No. I have concluded the same as you, so am looking for a different camera module. We need something more open than this has turned out to be. Now I am wondering if something like a CMUCam3 (http://www.cmucam.org) might be worthwhile looking into for prototyping and development. It's a lot more expensive than I want, but for prototyping might be ideal.

8-Dale

Adrenalynn
06-22-2008, 06:21 PM
That module is as "open" as I've ever seen. It just looks like a hundred-hour-project for someone that knows both low-level hardware engineering AND software device driver engineering... Great documentation, just a killer to implement.

The CMUCam3 is pretty cool looking. Let us all know if you get one and what you think. It's on my "sorta list"...

LinuxGuy
06-22-2008, 06:44 PM
The CMUCam3 is pretty cool looking. Let us all know if you get one and what you think. It's on my "sorta list"...
Yes, it is, but the Blackfin Camera Board is less expensive, Open Source, at least as far as software goes, and has more computing power. I'm not sure the price of the CMUCam3 is justifiable.

8-Dale

Adrenalynn
06-22-2008, 08:39 PM
Compare the onboard processing capabilities and speed?

Oh, and the source for the CC3 is also freely available: http://www.cmucam.org/wiki/Downloads

LinuxGuy
06-22-2008, 10:32 PM
Compare the onboard processing capabilities and speed?

Oh, and the source for the CC3 is also freely available: http://www.cmucam.org/wiki/Downloads
The software for the Blackfin Camera Board is also fully Open Source. :veryhappy: I am wishing for an Open Source camera hardware design, but have not found anything yet.

If I could do it myself, I would. Hmmmmm, now I wonder if I could do image processing on a Hammer (http://www.elinux.org/Hammer_Board) (Samsung S3C2410A) and what sort of camera sensor or module with decent resolution (at least 1.3 MPixel) and documentation I can get my hands on. For something like this, I'd rather use the S3C2440A, which has a camera interface built in, and is a lot faster.

8-Dale

Adrenalynn
06-22-2008, 10:50 PM
The camera module you listed is going to be the most well-documented easy to interface to the Hammer, as far as modules go.

Sienna
06-23-2008, 05:55 PM
Um, I plan to get a normal USB Webcam and use Linux's UVC driver and V4L2.

Seems a heck of a lot simpler then trying to play hardware engineer for me :D

LinuxGuy
06-23-2008, 08:12 PM
Um, I plan to get a normal USB Webcam (http://www.amazon.com/exec/obidos/tg/detail/-/B000RZQZM0/ref=ord_cart_shr?%5Fencoding=UTF8&m=ATVPDKIKX0DER&v=glance) and use Linux's UVC driver and V4L2.

Seems a heck of a lot simpler then trying to play hardware engineer for me :D
I'm looking to see if the ARM kernel tree has the uvcvideo driver. For my general use, I would like to get a Logitech Orbit AF. I've always liked Logitech stuff, but not all of it has Linux drivers. I'm not sure what good connecting one to my Hammer will do though. Or maybe the less expensive one with a custom pan/tilt base.

I don't think Hammer has the power to process video data from a USB webcam though. That's for the S3C2440A with the built in camera interface.

8-Dale

Sienna
06-23-2008, 08:17 PM
Oh, the Hammer was for Amy (the tripod) to do kinematics and such. Amy will use 'standard' sensors, like Sharps and Daventechs.

The USB cam is for the tank, which will most likely have a nano ITX or something in it.

Adrenalynn
06-23-2008, 11:28 PM
Some of us _like_ playing hardware engineer. ;)

Seriously, though, there's something to be said for i2c video...

LinuxGuy
06-23-2008, 11:36 PM
Some of us _like_ playing hardware engineer. ;)
I know you do, and I envy you that ability. I'd like one super Hammer Board please, to go, complete with S3C2440A processor and camera interface implemented, along with all other peripherals. :veryhappy::veryhappy:


Seriously, though, there's something to be said for i2c video...
I2C is good for a control channel and short data packets. i've never tried using it for more than that though.

8-Dale

Adrenalynn
06-23-2008, 11:39 PM
Well, the idea is generally not to move video over I2C. You'll see in your camera module that you referenced that it has a data bus and an I2C control bus.

Ideally you use at least dual-ported RAM, decode the video into RAM and then let another processor steal the decoded frames and do whatever it pleases with 'em.

Just not enough real bandwidth on the I2C bus...