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5.8

controlling a robot arm problem

Asked by Besbous in C Programming Language

Tags: copy_image, lamda, yhome

Ok this is my first time ! Hi there !
I ve got a problem, I m working now on a experement of controlling Robot arm using image source(camera) that orders to the robert to move when it s sees an object, using the image signal processing. My problem is in the labeling phase, also I have written a program to calculate and draw the center of inertia just of 1 object, but i don t know how to do it for infinite numbers of objects.

#include <stdio.h>
#include <stdlib.h>
#include <conio.h>

#include "robot.h"
#include "img.h"

#define MODE 4
/********************/

extern BYTE *img_work2;
extern BYTE *img_work3;

/********************/
/*********************************************************************************

**********************************************************************************/
void disp_image_while_kbhit(BYTE *img, HDC *hDC); /*(&#12469;&#12531;&#12503;&#12523;)*/
void gray2(BYTE *img_src, HDC *hDC);
void get_rid_of_noise(BYTE *img_src, BYTE *img_tmp, HDC *hDC);
double scan_angle(BYTE *img, int g_x, int g_y);
void straight_line(BYTE *img, int g_x, int g_y, double theta, HDC *hDC);
double sqrt( double x );
double atan2( double x,double y);
double tan( double x);

void myfunc(BYTE *img_src , BYTE *img_tmp , HDC *hDC){
  char motor;
  int  count;
  int  x1, y1, z1, x2, y2, z2 ;
  int i, j, s=0;
  int g_x, g_y, x_sum, y_sum, all_sum, threshold;
  double theta;

  switch(MODE){
  /*-- rotate_long&#12398;&#21205;&#20316;&#30906;&#35469;(1) ----------------------------------------*/
  case 1:
    printf("rotate_long&#12398;movement check(1)\n");
    printf(" motor? ");
    scanf("%c", &motor);

    printf(" count? ");
    scanf("%d", &count);

    rotate_long( motor, count );
    break;
  /*-- rotate_long movement check(2) ----------------------------------------*/
  case 2:
    count = 120;
    motor = 'B';
    printf("rotate_long\n");
    printf("&#12514;&#12540;&#12479;&#12540;%c&#12434;%d&#12384;&#12369;&#22238;&#36578;&#12375;&#12414;&#12377;&#12290;\n",motor,count);
    rotate_long( motor, count );
    getchar();
    printf("&#12514;&#12540;&#12479;&#12540;%c&#12434;%d&#12384;&#12369;&#22238;&#36578;&#12375;&#12414;&#12377;&#12290;",motor,-count);
    printf("&#20803;&#12395;&#25147;&#12428;&#12400;&#12289;&#27491;&#12375;&#12367;&#21205;&#20316;&#12375;&#12390;&#12356;&#12414;&#12377;&#12290;\n",motor,-count);
    rotate_long( motor, -count );
    getchar();
    break;
  /*-- move, move3 check-------------------------------------------*/
  /*    &#33258;&#20316;&#12375;&#12390;&#12367;&#12384;&#12373;&#12356;   */
  case 3:
    /* (1)coordonates*/
      printf("x1=\n"); scanf("%d",&x1);
      printf("x2=\n"); scanf("%d",&x2);
      printf("y1=\n"); scanf("%d",&y1);
      printf("y2=\n"); scanf("%d",&y2);
      printf("z1=\n"); scanf("%d",&z1);
      printf("z2=\n"); scanf("%d",&z2);
     
    /* (2)move the arm from Home vision to position1,oepn and close the grip */
      move(XHOME, YHOME, ZHOME, x1, y1, z1);
      grip();
      ungrip();
    /* (3)move the arm from cposition1 to position 2 */
      move(x1, y1, z1, x2, y2, z2);
      grip();
      ungrip();
    /* (4)move the arm back to home vision from position 2&#12289;and close back the grip */
      move(x2, y2, z2, XHOME, YHOME, ZHOME);
      home('A');
    /* (5)stop motors */
      stop_all();
    break;
  /*-- move, move3 -------------------------------------------*/

  case 4:
    /*display the image*/
       disp_image_while_kbhit(img_src, hDC);
    /*call the image source*/
        get_image(img_src);
      /*gray the image*/
         copy_image(img_src,img_tmp);
           gray2(img_tmp,hDC);
      /*kill the noise*/
        disp_gray_image(img_tmp,hDC);
         get_rid_of_noise(img_tmp,img_work2,hDC);
          copy_image(img_work2,img_tmp);
       
                show_monitor();
          disp_image(img_tmp,hDC);
        getchar();
      
            /*labeling*/
     
    /* the center of inertia */
      /*Caluculation the Surface :white color = object*/
       for(i=0;i<WIDTH;i++){
            for(j=0;j<HEIGHT;j++){
                   if(gray(img_tmp,j,i)==255){
                   s++;
                   }
             }
      }
    /*get the coordonates of the center of inertia */
     x_sum=0;
     y_sum=0;
     for(i=0;i<WIDTH;i++){
        for(j=0;j<HEIGHT;j++){
            if(gray(img_tmp,j,i)==255){
             x_sum+=i;
             y_sum+=j;
            }
      }
  }
  g_x=x_sum/s;
  g_y=y_sum/s;
  printf(" gx= %d, gy= %d\n", g_x, g_y);
      /*(draw)*/
  for(i=0;i<480;i++){
      rgb(img_tmp,i,g_x,R)=255;
    rgb(img_tmp,i,g_x,G)=0;
      rgb(img_tmp,i,g_x,B)=0;
  }
  for(j=0;j<640;j++){
      rgb(img_tmp,g_y,j,R)=255;
      rgb(img_tmp,g_y,j,G)=0;
      rgb(img_tmp,g_y,j,B)=0;
  }
  show_monitor();
   disp_image(img_tmp,hDC);
    getchar();
   /* get the angle */
  theta = scan_angle(img_tmp, g_x, g_y);
   printf("Angle=(%lf)\n",theta);
    straight_line(img_tmp, g_x, g_y, theta, hDC);
      show_monitor();
     disp_image(img_tmp,hDC);
   getchar();
  /*-------------------------------------------------------------------*/
    break;

  default:
    printf("MODE=%d&#12399;&#26377;&#21177;&#12391;&#12399;&#12354;&#12426;&#12414;&#12379;&#12435;&#12290;\n",MODE);
  }
}



/*++  &#12461;&#12540;&#12508;&#12540;&#12489;&#20837;&#21147;&#12364;&#12354;&#12427;&#12414;&#12391;&#12459;&#12513;&#12521;&#12398;&#26144;&#20687;&#12434;&#34920;&#31034;&#12377;&#12427;(&#12469;&#12531;&#12503;&#12523;) ++*/
void disp_image_while_kbhit(BYTE *img, HDC *hDC){
  show_monitor();        
  while(!_kbhit()){      
    get_image(img);      
    disp_image(img,hDC);  
  }
  _getch();              
}
 
void gray2(BYTE *img_src, HDC *hDC){
       
        int threshold;
         to_gray(img_src);
            from_gray(img_src);
              disp_image(img_src,hDC);
          show_monitor();
          disp_histgram(img_src,hDC);
        printf("Threshold Range =\n");
        scanf("%d", &threshold);
        binarize(img_src,threshold);
}

void get_rid_of_noise(BYTE *img_src, BYTE *img_tmp, HDC *hDC){
      int k,l;
printf("Enter Dilation EffectNum\n");
        scanf("%d",&k);
        printf("Enter Erosion EffectNum\n");
        scanf("%d",&l);
        copy_image(img_src,img_tmp);      
      erosion(img_tmp,k);
      dilation(img_tmp,l);
      dilation(img_tmp,l);
      erosion(img_tmp,k);
        show_monitor();
        disp_image(img_tmp,hDC);
        getchar();
}

double scan_angle(BYTE *img, int g_x, int g_y){
  double theta, lamda, s11=0, s12=0, s22=0;
   int x, y;
     for(x=0;x<WIDTH;x++){
        for(y=0;y<HEIGHT;y++){
              if(gray(img_work2, y, x)>100){
         s11=(x-g_x)*(x-g_x);
         s12=(x-g_x)*(y-g_y);
         s22=(y-g_y)*(y-g_y);
            }
        }
       }
        lamda=(s11+s22+sqrt(s11*s11+s22*s22-2*s11*s22+4*s12*s12))/2;
            theta=atan2(lamda-s11,s12);
        return theta;
}

void straight_line(BYTE *img_tmp, int g_x, int g_y, double theta, HDC *hDC){
  int x, y;
   for(x=0;x<WIDTH;x++){
              y=(double)(x-g_x)*tan(theta)+g_y;
       if(0>=y && y<HEIGHT){
    rgb(img_tmp,y,x,R)=255;
      rgb(img_tmp,y,x,G)=0;
      rgb(img_tmp,y,x,B)=0;
         }
   }
}
/*********************************************************************************
  *********************************************************************************/
#define LIMIT 90

void rotate_long( char motor, int count ) {

  int  margin, dir;


   if(count>0){
     dir = 1;
   }else{
     dir = -1;
     count =-count;
  }

  while( count > 0 ) {
    /* (2) &#12418;&#12375; motor &#12364;&#12473;&#12488;&#12540;&#12523;&#12375;&#12390;&#12356;&#12383;&#12425;, &#12522;&#12479;&#12540;&#12531;&#12377;&#12427; */
        if(stalled(motor)==1){
        return;
       }

        margin = LIMIT-distance(motor);
   
      if(count<margin){
      rotate(motor,dir*count);
      count=LIMIT;
      return;
     }
    /* (5) margin &#12364;&#27491;&#12398;&#22580;&#21512;&#12395;&#12398;&#12415;&#27425;&#12398;&#12424;&#12358;&#12394;&#20966;&#29702;&#12434;&#34892;&#12358;:
            margin &#12398;&#20516;&#12384;&#12369;&#31227;&#21205;&#12434;&#25351;&#20196;&#12375;, count &#12434; margin &#12384;&#12369;&#28187;&#12425;&#12377; */
       if(margin>0){
       rotate(motor,dir*margin);
       count=count-margin;
    }
  }
 
}


void      wait_DEF( void ) {
  /* &#12514;&#12540;&#12479; D, E, F &#12398;&#21205;&#20316;&#32066;&#20102;&#24453;&#12385;&#12523;&#12540;&#12481;&#12531;
   (D, E, F &#12398;&#12456;&#12521;&#12540;&#12524;&#12472;&#12473;&#12479;&#12398;&#12356;&#12378;&#12428;&#12363;&#12364;&#27491;&#12391;&#12354;&#12427;&#38291;&#65292;
   while &#12523;&#12540;&#12503;&#12434;&#22238;&#12426;&#32154;&#12369;&#12427;) */
    while(distance('D')>0 || distance('E')>0 || distance('F')>0){
    }
}

void       move(int x1, int y1, int z1, int x2, int y2, int z2) {

  double    a[3],forward[3];

  /* &#25163;&#20808;&#12434;(x1, y1, z1) &#12363;&#12425; (x2, y2, z2) &#12408;&#31227;&#21205;&#12373;&#12379;&#12424;&#65294; */

  /* (1)move from (x1, y1, z1) to (x2, y2, z2) */
      angle(x1,y1,z1,x2,y2,z2,a);
  /* (2)&#37197;&#21015; a &#12395;&#27714;&#12417;&#12383;&#22238;&#36578;&#35282;&#12434;&#12473;&#12486;&#12483;&#12503;&#25968;&#12395;&#22793;&#25563;&#12375;,
      &#12381;&#12428;&#12382;&#12428;&#37197;&#21015; forward &#12395;&#21454;&#12417;&#12427; */
       forward[MOTOR_D]=a[MOTOR_D]/STEP_D;
       forward[MOTOR_E]=a[MOTOR_E]/STEP_E;
       forward[MOTOR_F]=a[MOTOR_F]/STEP_F;
  /* (3)&#21508;&#38306;&#31680;&#12434;&#22238;&#36578;&#12373;&#12379;&#12427; */
       rotate_long('D',forward[MOTOR_D]);
       rotate_long('E',forward[MOTOR_E]);
       rotate_long('F',forward[MOTOR_F]);
  /* (4)&#21205;&#20316;&#12364;&#32066;&#20102;&#12377;&#12427;&#12414;&#12391;&#24453;&#12388; */
       while(distance('D')>0 || distance('E')>0 || distance('F')>0) {
    }


}


void       move3(int x1, int y1, int z1, int x2, int y2, int z2) {
  /* this part i want to move all the motors in the same time. so I wrote this following, not sure wether it s compatible or not */
int delta_x, delta_y, delta_z, dMAX;
  delta_x = x2-x1;
  delta_y = y2-y1;
  delta_z = z2-z2;
  dMAX = abs(delta_x);
  if (dMAX<abs(delta_y) && dMAX>abs(delta_z))
  dMAX = abs(delta_y);
  if(dMAX<abs(delta_z) && dMAX>abs(delta_y))
  dMAX = abs(delta_z);
  if(dMAX<abs(delta_y) && dMAX<abs(delta_z) && abs(delta_z)<abs(delta_y))
  dMAX = abs(delta_y);
  if(dMAX<abs(delta_y) && dMAX<abs(delta_z) && abs(delta_y)<abs(delta_z))
  dMAX = abs(delta_z);
  move(x1, y1, z1, dMAX + x1,  dMAX + y1, dMAX + z1);

}
/****************************************************************************************/

 actually what i want from this program is to display something like the following :
http://www.convict.lu/Jeunes/5%20DOF%20Robot-arm.htm (Get_object_positionsRAC.vi.). so I want my program to display howmany objects r there, and their coordonates of center of inetia, the angle ...!
 ah I think I want too much ! but man I have headach becoz of this program!

[+][-]11/26/03 01:11 AM, ID: 9823285Accepted Solution

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About this solution

Zone: C Programming Language
Tags: copy_image, lamda, yhome
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Solution Provided By: sunnycoder
Participating Experts: 1
Solution Grade: A
 
[+][-]11/04/03 06:39 AM, ID: 9678821Expert Comment

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[+][-]11/26/03 01:08 AM, ID: 9823279Assisted Solution

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[+][-]11/27/03 05:02 PM, ID: 9834452Author Comment

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[+][-]12/02/03 08:00 AM, ID: 9859168Author Comment

Often, when Experts are collaborating with members who have asked questions, they will request additional information about the problem. Askers respond with an author comment like this one.

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