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January 2006

• In the current firmware, the data returned from 'S' Scan is decimal, and we plan to change this to hex so that it is consistent with the format of other the commands.
  
  
• We are going to add a few more functions to make the Scan function more useful plus adding a blob detect function. There will actually be three new functions:
  
  
  • Grab color samples - returns [Ymax, Ymin, Umax, Umin, Vmax, Vmin] from an area of the image bounded by a set of upper left / lower right coordinates. This function will also initialize the on-board image processing mode (similar to 'w' or 'm', except that the host controls the sample area)
    
    
  • Scan image, similar to current Scan function, but using specified color range [Ymax, Ymin, Umax, Umin, Vmax, Vmin]. Returns a set of column vectors showing location of first mismatch in each column
    
    
  • Blob search - searches image in specified color range [Ymax, Ymin, Umax, Umin, Vmax, Vmin], and returns list of blobs [upper left, lower right, density] that fit the search criteria
  
  
• We will be adding a set of 3 functions to interface to the digital i/o pins E5-E13.
  
  
  • ddxxxx (returns ##ddir) - sets data bit direction - xxxx is 4 hex digits
    
    
  • dsxxxx (returns ##dset) - sets data bits - xxxx is 4 hex digits
    
    
  • dg (returns ##dgetxxxx) - gets data bits - xxxx is 4 hex digits
  
  
• We will add functions to write a sector of onboard flash memory and retrieve that sector. A sector is 256 bytes. Basically, this will create a form of permanent storage for information which might help personalize an individual robot (name, motor/sensor calibration data, neural nets, etc).
  
  
• Finally, we will be adding a function similar to the 'I' Image Grab command that allows image data to be transferred in smaller chunks instead of one continuous transfer, allowing a host program to interleave other commands while grabbing a large image.

Posted Sun, 19 Nov 2006 14:25 | HTML Link | see additional stories ...