KJ-Lincam - K-Team
Contents
1. KJI LINCAM SNES Cream version 1 0 JUNE 2010 K Junior Linear Camera User Manual rev 1 0 Documentation Author Frederic Lambercy K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland Email Url Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp K Junior K Team LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual K Junior Linear Camera User Manual rev 1 0 3 TABLE OF CONTENTS K Junior Linear Camera User Manual rev 1 0 1 INTRODUCTION The K Junior LinCam module allows you to add the dimension of vision to K Junior In actual fact with this module you will be able to build information into your algorithms that includes a lot more than just proximity alone 1 1 How to use this handbook This manual introduces the K Junior LinCam module dedicated to K Junior robot If the manual do not answer to a question please consult K Team website www k and in particular the Forum and the FAQs 1 2 Safety precautions Here are some recommendations on how to correctly use the K2. Purpose Example char Version Version HemLinCam Read Version 4 1 3 Void HemLinCam Set Threshold unsigned char Purpose Specify the threshold value HemLinCam Set Threshold 127 Example 4 1 4 Unsigned Char HemLinCam Read Threshold void Read the threshold value Purpose Example unsigned char Threshold Value Threshold Value HemLinCam Read Threshold 4 1 5 Void HemLinCam Set Exposure Time unsigned char Purpose Specify the exposure time HemLinCam Set Exposition 1 10 Example K Junior Linear Camera User Manual rev 1 0 4 1 6 Unsigned Char HemLinCam Read Exposure Time void Purpose Read the exposure time value Example char Exposition Time Exposition Time HemLinCam Read Exposition 4 1 7 Void HemLinCam Read Pixels void Purpose Read all pixel values The values are then stored in the unsigned arrays char HemLinCam Pixels Zone1 HemLinCam_Pixels_Zone2 HemLinCam_Pixels_Zone3 Each of these is a 34 pixel array corresponding to the left hand centre and right hand part of the image respectively Example HemLinCam_Read_Pixels if HemLinCam_Pixels_Zone2 4 gt 50 a 4 1 8 Void HemLinCam Read Pixels Thresholded void Purpose Read all pixel values after thresholding The values are then stored in the arrays listed above Example HemLinCam_Read_Pixels_Thresholded if HemLinCam Pixels Zonel 4 255 gt 4 1 9 Void HemLinCam Set LED State char Purpose Specify th
3. 1 0x01 and 10 0x0A Address 33 0x21 Access R amp W K Junior Linear Camera User Manual rev 1 0 8 3 3 6 LED Register Description Enables specification of the LED state on or off A zero value 0 or 0x00 switches the LED off any other value switches it on Address 48 0x30 Access W K Junior Linear Camera User Manual rev 1 0 4 Use There are two ways of using K Junior LinCam with K Junior C Programming LJ Serial port control ou must acquire CCS C compiler http www k ou first 4 1 Sy LL program K J unior in C ieam com mobile robotics produets k junior softwareftacp We recommend that redd the EES version of the KJOs manual TT Junior KJOSManual doc This manual provides all necessary information about installing and using CCS on K Junior modules e Download the latest version of KJOs as well as the latest version of K Junior LinCam Lib including HemLinCam h Open the project using CCS C Compiler LJ To use the following functions you must first include HemLinCam h at the beginning of your code include HemLinCam h the HemLinCam h file must be in your project s directory HemLinCam h includes the following functions 4 1 1 Void HemLinCam lnit void Initialisation of the camera this is the first function to call at the start of the Purpose code Example HemLinCam_Init 4 1 2 Char HemLinCam Read Version void Read the firmware version present in the camera
4. in charge damages caused by a wrong manipulation 2 1 Install To begin with make sure the robot is switched off then insert the K Junior LinCam module keeping it as vertical as possible but making sure it is positioned as below Figure 2 1 K Junior LinCam module on the K Junior Under no circumstances try to insert K Junior LinCam in any of the other extension connectors on K Junior or with it facing the rear of the robot as this might cause serious damage to your K Junior robot as well as the extension module 2 2 Uninstall Check first that the K Junior Robot is switched off hold firmly the K Junior in your hand pull as much vertical as possible the K Junior LinCam module with the other hand Please take extra care in not bending connector pins K Junior Linear Camera User Manual rev 1 0 6 3 The K Junior LinCam 3 1 Overview Figure 3 1 Overview of the LinCam turret layout Front and Rear view Make an external inspection of the turret Note the location of the following parts 1 FE wet Reprogramming connector Led M12x0 5 Lens Main Connector Microcontroller 3 2 FC Address The K Junior Robot control the LinCam through an FC bus The turret address is defined by 7 bits 1 bit for the mode selection write or read 1 11010 010 0 R W The LinCam FC address is OxC1 in read mode and 0xC0 in write mode K Junior Linear Camera User Manual rev 1 0 7 3 3 Re
5. Junior Robot and the LinCam e Keep out from the wet places A contact with water can made a short circuit and damage the electronics e Don t plug or unplug any connector or turret when the robot is powered All connections and turret insertions must be made when the robot and the interface are switched OFF Otherwise damages can occur e Never leave the K Junior powered when it is unused When you have finished working with K Junior turn it off It will save the battery life 1 3 Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through recycling programs you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment K Junior Linear Camera User Manual rev 1 0 5 2 Connection Installing and uninstalling the extension module is delicate Please read carefully instructions below to avoid damages K TEAM will not take
6. e LED state Example HemLinCam_Set_Led_State 1 NB To use these functions you must first prefix an include command for the library at the beginning of your code include HemLinCam h K Junior Linear Camera User Manual rev 1 0 11 4 2 Serial Port Control Thanks to the K Junior firmware you can access to I C modules via the RS232 command line For that please refer to the latest K Junior user manual Examples e W C0 30 01 Turn on the Led e R C0 00 01 returns firmware version You can use any development environment that can access serial port to interface to K Junior LinCam For instance we developed a graphical interface to read and configure the K Junior LinCam You must first plug your K Junior LinCam to the K Junior turn on the robot and then connect the PC to the K Junior with the USB cable K Junior Linear Camera User Manual rev 1 0 12 e Dimensions mm 42 L x 35 W x 26 H e Weight NC e Power Supply 5 V e Current mA 10 during image acquisition 1 on standby e Maximum FC frequency 400 kHz e Pixels number 102 e Grey levels 8 bits 0 255 e Lens M12 x 0 5 type e Maximum frame rate 100 Hz K Junior Linear Camera User Manual rev 1 0 Technical Specification B Connectors GND Figure B 1 Connector Details K Junior Linear Camera User Manual rev 1 0 K Junior Linear Camera User Manual rev 1 0 K TEaM S A RUE GaALILSE 9 1400 YVErDON LES BAaINS
7. gister Address To specify the camera parameters or to read the pixel values you need to get read and write access to the registers listed below Throughout the following section we shall use notation as follows e R For a register that can only be accessed in Read mode e W For a register that can only be accessed in Write mode e R amp W For a register that can be accessed in both Read and Write mode 3 3 1 Firmware Register Description Enables reading of the firmware version of the K Junior LinCam module Address 0 0x00 Access R 3 3 2 ReadPixels Register Description Enables reading of the 102 pixel values Each pixel has an unsigned 8 bit grey level value 0 255 or 0x00 0xFF Address 16 0x10 Access R 3 3 3 Read Thresholded Pixels Register Description Enables reading of the value of 102 pixels with thresholding Each pixel has a binary value 0 0x00 if it is below the threshold or 255 OxFF if it is above Address 17 0x11 Access R 3 3 4 Threshold Value Register Description Enables reading or writing of the threshold value that is to be applied in the thresholding function This is an unsigned 8 bit value 0 255 or 0x00 0xFF Address 32 0x20 Access R amp W 3 3 5 Exposure Time Register Description Enables reading or writing of the exposure time value This is an unsigned 8 bit value 0 255 or 0x00 0xFF In practice we recommend use of values falling between
8. m SUWIIT2Z2ErLanD K Junior Linear Camera User Manual rev 1 0 16
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