Figure : Overall Development Process The flow chart above is described in further detail: Design & Built Prototype Robot This was complete last spring in preparation of this – project. Outcome: Completed by Kelly & Nate. Built Robotic Arm & Developed Arm Script Arm was assembled, connected to PIC, – PIC controlled SW install, designed script, arm operation tested. Outcome: Completed by Kelly. Verify Frame Grabber & Camera Operation Frame Grabber and camera were – installed and tested. Outcome: Completed by Shane & Zach. Complete PC program Inspector installed, Dev C++ compiler installed, MIL Library – installed, C++ program built to send drive and steering commands to the PIC using RS 232 serial communication. Outcome: Completed by Shane & Zach. Complete Windows XP Marco AutoHotkey installed, test macro to execute robotic – arm script from the PC program. Outcome: Completed by Zach. Test Camera Operation in Elevator Area Move robot to elevator area and take – pictures. Outcome: Completed by Shane. Image System Calibration / Derive Calculations for Relative Positions - Using images taken by the robot in 15 test locations, derive formulas to calculate relative position and angle based upon number of pixel of the desired object: Outcome: Completed by Shane & Zach. Develop PIC Motor Control Script - Use RS 232 communication to control the drive and steering motors. Contingency: use AutoHotKey to invoke scripts that have been
Figure : Overall Development Process The flow chart above is described in further detail: Design & Built Prototype Robot – This was complete last spring in preparation of this project. Outcome: Completed by Kelly & Nate. Built Robotic Arm & Developed Arm Script – Arm was assembled, connected to PIC, PIC controlled SW install, designed script, arm operation tested. Outcome: Completed by Kelly. Verify Frame Grabber & Camera Operation – Frame Grabber and camera were installed and tested. Outcome: Completed by Shane & Zach. Complete PC program – Inspector installed, Dev C++ compiler installed, MIL Library installed, C++ program built to send drive and steering commands to the PIC using RS 232 serial communication. Outcome: Completed by Shane & Zach. Complete Windows XP Marco – AutoHotkey installed, test macro to execute robotic arm script from the PC program. Outcome: Completed by Zach. Test Camera Operation in Elevator Area – Move robot to elevator area and take pictures. Outcome: Completed by Shane. Image System Calibration / Derive Calculations for Relative Positions - Using images taken by the robot in 15 test locations, derive formulas to calculate relative position and angle based upon number of pixel of the desired object: Outcome: Completed by Shane & Zach. Develop PIC Motor Control Script - Use RS 232 communication to control the drive and steering motors. Contingency: use AutoHotKey to invoke scripts that have been