Color Tracking Issue

11 replies [Last post]
Thu, 02/27/2014 - 15:10
TheClaymore
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So I used the the code from the workshop and I can't get it to run. It prints about 10 lines of "VIDIOC_QUERYMENU: Invalid argument", and then prints the "Press B button when ready." Pressing the B button doesn't have any effect. Any help would be appreciated.


/* Move the robot towards the largest object on channel 0.
Robots stops if no object is detected*/
int main()
{
int ch = 0, leftmtr = 0, rghtmtr = 3; // identify channel and motors
int high = 100, low = -10; // set wheel powers for arc radius
camera_open();
printf("Move towards object on channel 0\n");
printf("Press B button when ready\n\nPress side button to stop\n");
while(b_button() == 0) { // wait for button press
}
while(side_button() == 0) { // stop if button is pressed
if(get_object_count(ch) > 0) { // if object is seen...
if(get_object_center_column(ch,0) < 65) { // if object is on left...
motor(leftmtr,low); motor(rghtmtr,high); // arc left
}
else {
if(get_object_center_column(ch,0) > 95) {// if object is on right...
motor(rghtmtr,low); motor(leftmtr,high); // arc right
}
else {
motor(rghtmtr,high); motor(leftmtr,high); //go straight
}
}
}
else {
ao();
}
}
ao(); // stop because button pressed
printf("done\n"); return 0;
}

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Thu, 02/27/2014 - 21:41
#1
nzaman
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Don't worry about the "VIDIOC_QUERYMENU: Invalid argument" messages, as long as it stops printing eventually.

Your program never calls camera_update(), so camera functions like get_object_count(ch) have no image to work with. You should update anytime you want a new image from the camera.

Nafis Zaman

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Thu, 02/27/2014 - 23:01
#2
ruler501
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First you have some pretty terrible formatting of your code that makes it hard to check.
I'm not sure if it helps, but I added an msleep(5) to the loop so that there is some processing time.
You are also missing camera_update() in your while loop.

  1. /* Move the robot towards the largest object on channel 0.
  2. Robots stops if no object is detected*/
  3. int main(){
  4. 	int ch = 0, leftmtr = 0, rghtmtr = 3; // identify channel and motors
  5. 	int high = 100, low = -10; // set wheel powers for arc radius
  6. 	camera_open();
  7. 	printf("Move towards object on channel 0\n");
  8. 	printf("Press B button when ready\n\nPress side button to stop\n");
  9. 	while(b_button() == 0){ 
  10. 		msleep(5);
  11. 	}// wait for button press
  12. 	while(side_button() == 0) { // stop if button is pressed
  13. 		camera_update();
  14. 		if(get_object_count(ch) > 0) { // if object is seen...
  15. 			if(get_object_center_column(ch,0) < 65) { // if object is on left...
  16. 				motor(leftmtr,low);
  17. 				motor(rghtmtr,high); // arc left
  18. 			}
  19. 			else if(get_object_center_column(ch,0) > 95) {// if object is on right...
  20. 				motor(rghtmtr,low);
  21. 				motor(leftmtr,high); // arc right
  22. 			}
  23. 			else {
  24. 				motor(rghtmtr,high);
  25. 				motor(leftmtr,high); //go straight
  26. 			}
  27. 		}
  28. 		else {
  29. 			ao();
  30. 		}
  31. 	}
  32. 	ao(); // stop because button pressed
  33. 	printf("done\n"); return 0;
  34. }

That is your formatted code with the change I suggested

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Fri, 02/28/2014 - 18:03
#3
TheClaymore
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Thanks for the replies, the code is copied and pasted directly from the 2014 workshop slides, and I'm not sure how to keep the formatting. (Though I did use code HTML tag). I tried adding the "camera_update();" command, and even tried copying the code you gave me with no different results.

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Sun, 03/02/2014 - 00:45
#4
ruler501
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Are you certain left and right motor is plugged in correctly? look at the code for the port numbers they should be plugged into.

EDIT: If that doesn't work try commenting out the while loop for the b_button and just see if the movement code works.

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Fri, 03/07/2014 - 18:05
#5
TheClaymore
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The motors are plugged correctly, and we tried commenting out the b_button loop, and it had the same result except without printing the line about the b_button (of course). We also tried using the Rumba as well as the Link just in case, and neither worked.

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Fri, 03/07/2014 - 18:31
#6
ruler501
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Does it just sit there doing nothing or does the program end right away?

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Mon, 03/10/2014 - 16:48
#7
TheClaymore
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Without the B Button loop it just prints about 10 lines of "VIDIOC_QUERYMENU: Invalid argument", and then does nothing. So it must not be reaching the "printf("done\n");" part of the code.

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Mon, 03/10/2014 - 23:55
#8
ruler501
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try changing ao(); to msleep(5); and are you certain the camera is calibrated to the right color?

EDIT: Here is some code that will give us more information on what is going wrong.

  1. /* Move the robot towards the largest object on channel 0.
  2. Robots doesn't change movement if it loses the object*/
  3. int main(){
  4. 	int ch = 0, leftmtr = 0, rghtmtr = 3; // identify channel and motors
  5. 	int high = 100, low = -10; // set wheel powers for arc radius
  6. 	camera_open();
  7. 	printf("Move towards object on channel 0\n");
  8. 	printf("Press B button when ready\n\nPress side button to stop\n");
  9. 	while(b_button() == 0){ 
  10. 		msleep(5);
  11. 	}// wait for button press
  12. 	while(side_button() == 0) { // stop if button is pressed
  13. 		camera_update();
  14. 		if(get_object_count(ch) > 0) { // if object is seen...
  15. 			if(get_object_center_column(ch,0) < 65) { // if object is on left...
  16. 				motor(leftmtr,low);
  17. 				motor(rghtmtr,high); // arc left
  18. 				printf("Object to the left\n");
  19. 			}
  20. 			else if(get_object_center_column(ch,0) > 95) {// if object is on right...
  21. 				motor(rghtmtr,low);
  22. 				motor(leftmtr,high); // arc right
  23. 				printf("Object to the right\n");
  24. 			}
  25. 			else {
  26. 				motor(rghtmtr,high);
  27. 				motor(leftmtr,high); //go straight
  28. 				printf("Object dead ahead!\n");
  29. 			}
  30. 		}
  31. 		else {
  32. 			printf("No object found\n");
  33. 		}
  34. 	}
  35. 	ao(); // stop because button pressed
  36. 	printf("done\n"); return 0;
  37. }

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Tue, 03/11/2014 - 01:29
#9
Jeremy Rand
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@TheClaymore: Just for reference, enclose C code in < c > rather than < code > (without spaces), so that it displays properly. It's a quirk in the forum software.

-Jeremy Rand
Senior Programmer, Team SNARC (2012-2013), Norman Advanced (2010-2011), Norman HS (2008-2009), Norman North (2005-2007), Whittier MS (2003-2004)
2012-2013 VP of Tech, 2011 President, Botball YAC (2009-2013)
Mentor, Alcott and Whittier MS

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Tue, 03/11/2014 - 16:56
#10
TheClaymore
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That code works fine, thanks so much! :)

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