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1. Project Documentation Version 3 0 M After Analysis Document VIDEO COACHER Terz Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD After Analysis Version 1 0 Version Date Changes in document Responsible 1 0 21 05 14 Created document Jacob amp Brian Formatting Jacob amp Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER er Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents ug ele Le OM EE 330 2 Project Goal Fulfillment run setet gere iin 331 Kabel 331 2 DPLOJSCUC OSES sscacscccetecsces anae aaa ia area a aa aa naa aA A O aAa aaea 332 2 3 Project Evaluati ear 200000 a A O A A AEA AA 333 3 Project EXC CUE e TEE 335 3 1 Work Method ai maser deeg ee geg e EAEEE NEEN 335 3 2 Project Work aaa anna arena anne haare nennen een nee 336 SEU 14700 013 1 0 NEE 338 3 4 Cooperation EEN 338 VIDEO COACHER fez Catch 21 22 05 2014 Project Documentation Version 3 0 1 Introduction The purpose for our After Analysis Document is to present the reader with a quick overview of what was actually achieved during the project Catch 21 and why it went as it did The document will act as a general summary of the entire project including our product the Video Coacher It will also sum up our e
2. Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER vor Catch 21 22 05 2014 Project Documentation Version 3 0 The requirements specification document is a document which describes what requirements are to be met in accordance to the test specifications listed As our project group is using Scrum all requirements which are made will be present in some shape or form in our product backlog Thus our requirements specification document is essentially the product backlog The product backlog is a prioritized list of requirements where each requirement has e AnID e A user story e An acceptance criteria e Story points SP e Comments The ID is being used to identify the requirement so when talking about requirements in different documents only the ID will be used and you need to find the ID in the product backlog to see the actual requirement The user story is a way to justify the need for the requirement One example e Asa user e want to be able to adjust brightness settings e Sol can see my picture even though it s dark The acceptance criterion specifies what requirement must be met before a user story is considered to be completed If I build on the example above e Acceptance Criteria Brightness can be adjusted by the user through a settings menu Story points say something about the complexity of achieving the requirement It s all relative to other requirements so a requirement
3. Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents List of Tables or List of Figures There will be no table of contents list of tables or list of figures in the unformatted document One will be added within the formatting post process Images Figures Images and figures can be added directly or through placeholder text specifying where to find the image or figure Ex Some figure found in the folder General Figures amp Images or document Tables As unformatted as possible no matter how complex Same rules as for the Main Content Text applies here as well Ex Table of Information Information Figure 29 Unformatted Generic Table VIDEO COACHER 7 Catch 21 22 05 2014 Project Documentation Version 3 0 Main Content Text In plain text simple formatting like bold text underline italic and bulleted lists are allowed But no changing of spacing size color or font Ex 1 Introduction Some text 2 Heading Tile 2 1 Subheading Title 2 2 1 Sub Subheading Title and so on 2 3 Subheading Title 3 Heading Tile And so on Comments Shall also be removed otherwise they will show up in our final version even though sometimes not visible in Google docs References Ex References shall be added as footnotes on the current page 23 This is a reference example VIDEO COACHER ir Catch 21 22 05 2014 Project Documentation Version 3 0
4. Project Documentation Version 3 0 5 Connect foot controller with the central unit Figure 34 Concept Drawing Central Unit amp Foot Controller VIDEO COACHER oc Catch 21 22 05 2014 Project Documentation Version 3 0 6 Use HDMI to connect a screen or projector to the central unit Figure 35 Concept Drawing Video Coacher with Display VIDEO COACHER s Catch 21 22 05 2014 Project Documentation Version 3 0 7 Plug in the two power cords to power up the system Figure 36 Concept Drawing Power Supply Unit 8 You may also want to plug in the Bluetooth receiver for your wearable remote controller VIDEO COACHER PR Catch 21 22 05 2014 Project Documentation Version 3 0 Getting Started Now that you have powered up your system the control box will automatically boot up and load its operating system When it s ready you must start the program following these instructions 1 Use your mouse and keyboard to log in to the system e username linaro e password linaro 2 Open the Terminal from the Linux start menu 3 To run program type videocoacher in the terminal window without the quotation marks Notice For future software releases we plan to automate this procedure Future updates will be available at GitHub Now as soon as the program starts it will automatically begin tracking the user and stream a delayed video of the session to the
5. SCT2543H 4P or un A YEL m eauivalent B RED B BLU Items Specs Items Specs Phase Number 2 phases Step Angle LR 5 New Release 04 18 12 Description Rated Voltage 2 8 VDC Rated Current DC 1 68 A Phase Resistance 20 C 1 65 10 Q phase Inductance 2 820 mH Phase Holding Torque 5 5 Kg cm 76 oz in Detent Torque 0 2 Kg cm REF Rotate Direction ABCDA CW MAX Starting PPS gt 2500 PPS Hybrid Stepper Motor MAX slewing PPS 22500 PPS Insulation Resistance 2100 MQ DC 500V LDO 42STH47 1684A PHL HI POT AC600V 1mA 1S Insulation Class Class B Factory Rotor Inertia 68 g cm Weigth 0 35 Kg REF r page 1 J 3 S 5 Figure 46 Stepper Motor Specification Datasheet Source Open Builds 1 VIDEO COACHER Fri Catch 21 22 05 2014 Project Documentation Version 3 0 Why Stepper Motor When deciding upon which motor to go for we considered both DC motors and stepper motors DC motors were from past experience more familiar to us but stepper motors appeared to be more frequently used in combination with most of the Linear Actuator Systems LAS that we were simultaneously looking at at the time After having considered the two options we concluded that both types would be suited for our needs but that they would require slightly different approaches We decided to let the final choice of motor rest upon what type of LAS we ultimat
6. Catch 21 22 05 2014 Project Documentation Version 3 0 ID 44 Camera Platform Motor Interface As a developer I want to be able to operate the motor through software code So I can create an automated system using a motor Story Points 16 Acceptance criteria One can enter parameters to the interface and it willmove the motor in the correct manner Comments Table 21 ID 44 ID 46 Remote Control Rig As a developer I want to be able to test the motor and servo interfaces properly So I can demonstrate their capabilities through demonstrations Story Points 12 Acceptance criteria One can remote control the servo s and motor with a PlayStation 2 controller Comments Table 22 ID 46 ID 47 As a developer Story Points 6 GitHub I want to have version control and backup for my code So I will not lose any working code to mishaps Acceptance criteria All programmers can push and pull successfully to GitHub Comments Table 23 ID 47 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 ID 48 As a developer Story Points 8 Cable Routing want to ensure cables experience as little stress as possible So I can deliver a sturdy product that does not eat itself when running Acceptance Cables attached to moving parts criteria never tangles or get bent in s
7. 2 Code Guidelines Header guards All h files needs a header guard If you re creating a file called Ugga Bugga h you will create header guards with the following template ifndef UGGA BUGGA H define UGGA BUGGA H Your code here endif This should be the last line Class names Class names should be the same as the filename they should also start with an upper case and separate words with no camelcase coding for class names So our previous example would have the following class class Ugga_Bugga b Functions Function names should start with lowercase and follow camelcase standards So it would be like this void someRandomFunction NOT LIKE THIS void Some Random Function Variables All variables should start with lowercase and follow camelcase standards The exception to this is constants a constant variable should be in all capital letters ALL variables should be declared private unless there s a good reason as to why not Use get and set functions to operate on them instead Variable names should also MAKE SENSE to ANYONE reading them So don t use int a when you can use int numberOfDucks for instance Some examples int number float biggerNumber const int CONSTANT NUMBER VIDEO COACHER Fan Catch 21 22 05 2014 Project Documentation Version 3 0 Scope The curly braces declaring the scope of classes and functions and so forth should be written out in the following manner void
8. Summary Sprint 1 Sprint 1 was special in the way that everything was new to us The challenges mainly included learning and implementing Scrum in a way that we felt would help us in the project work They also included understanding which documents were required and how to produce said documents PBI 19 Documents Getting a clear idea of document structure and content was a challenge in this sprint especially because of unfamiliarity with project documentation To solve this we used the resources at the college especially our advisor and other teachers as well as looking at and learning from previous project documentation found in the college library PBI 30 Make Risk Plan Outline How to make it and what to include was a challenge here Mainly because it was so early in the project It is often at the beginning of a project that you know the least about the risks and you learn more and more about them as you progress Our approach therefore has been to make a very brief risk document developing it further as we have gained more knowledge and familiarity with risks possibly affecting our project VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Summary Sprint 2 During sprint 2 we encountered two major challenges The challenges concerned the images we were supposed to use with VirtualBox and the sound the stepper motor was creating when used PBI 51 Sprint 2 Miscellaneous Work The issue we had
9. VIDEO COACHER pg Catch 21 22 05 2014 Project Documentation Version 3 0 Rig Operation V1 3 PBI 17 44 46 66 80 Test Level System Test Type BBT Functional Dynamic Test of rig maneuverability Changes V2 Padded all contact surfaces Stepper Motor Changed from two phase control sequence to one phase reduce voltage drop with the hope it would improve performance V3 Rig is now receiving commands from color tracking software Camera mount is stabilized with a new fixture servo casing Added o rings to center belt drive Tightened belt drive Acceptance That camera platform moves where we want camera to go Smooth steady Criteria motion gradual start and stop Movement does not disturb camera recording Minimal audible noise Approach We used the modified standard stepper library for running the motor Used PS2 controller for giving commands Streamed live video to screen to see how video quality was affected by rig operation Results Failed w comments Rig is terribly noisy Lots of vibration and sounds from metal against metal Camera mount wobbly Motor performance must be improved and camera mount better supported Will have to pad joints and screws and all metal surfaces that meet to reduce noise V2 Failed Rig still noisy even after padding belt drive is the culprit too loose and is not centered Motor performance still not good Need to improve code Camera mount wobbling still not solved V3
10. e Make aposter promoting our project group and the product e Make a website that promotes the project work and it s results e Use social networks like Facebook to inform friends about our project e Use word of mouth to spread info about our project e Make excellent chocolate cake to tempt people to come to our project presentations Project website videocoacher com VIDEO COACHER Jee Catch 21 22 05 2014 Project Documentation Version 3 0 7 5 Project Contact Details Name Initials Mail amp Phone Project Group catch21projectQgmail com i 126039 gmail com Brian Opedal BO 97 56 22 33 2 nistadjr gmail com Eyvind Nistad EN 41 55 16 66 jacob berntsen90 qmail com Jacob Berntsen JB 95 46 64 61 EH banderazz qmail com 98 87 89 16 oy aars qmail com 92 25 89 09 e selveste thue gmail com Christian Thue CT 47 38 09 70 Even H rtvedt ystein Arsnes GA Table 51 Contact Details VIDEO COACHER Je Catch 21 22 05 2014 Project Documentation Version 3 0 D Risk Analysis VIDEO COACHER i Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Risk Analysis Document Version 2 0 Version Date Changes in document Responsible 1 0 31 03 14 SEENEN delivery Revised and updated for final Brian ystein 29 ALOSIN delivery Even amp Christian Formatting Jacob Name Signature Brian A Oped
11. 22 05 2014 Project Documentation Version 3 0 IDH 5 Control Camera As a developer I want to be able to use the ODROID X 2 to control the module camera So I can develop a system which uses specific functions on the camera Story Points 4 Acceptance criteria Camera can be turned on off video stream can be started stopped and other relevant camera features can be controlled through the ODROID X 2 Comments Table 1 ID 5 IDH 6 As a user Story Points 4 Live Stream I want to be able to use HDMI as output source to display devices So I can use any HDMI compatible display device to display the video Acceptance Plugging any display device criteria using HDMI into the ODROID X 2 when streaming should then display the streamed video Comments Table 2 ID 6 VIDEO COACHER i Catch 21 22 05 2014 Project Documentation Version 3 0 ID 17 Assemble amp Test rig As a developer want to ensure all parts of the product are functioning properly and fit together So I can order new parts if some are missing broken unfit or alter other requirements if some parts limit the capability of the whole system Story Points 2 Acceptance The rig can be dis assembled criteria Moving parts should be able to do so without impediments Electronic components perform as expected Comments Should any component turn out to be malfunct
12. 22 05 2014 Project Documentation Version 3 0 Listed in in the table below is our current budget What Sum Camera 849 00 NOK SD Card 199 00 NOK Misc Electronical Parts 295 00 NOK Lynxmotion servos 232 50 NOK JetCarrier Shipment 674 00 NOK Stepper Motor 149 50 NOK Rail and support 880 00 NOK USB2 Cable 99 00 NOK Tripods 600 00 NOK Electrical comp 200 00 NOK USB USB mini 56 00 NOK Adafruit Foot Pedal 415 00 NOK Wristband 750 00 NOK 3D Print Foot pedal 600 00 NOK HDMI Extender 159 00 NOK Arduino Compatible 340 00 NOK Electrical comp 104 00 NOK Sum 6609 00 NOK Table 49 Current Budget VIDEO COACHER Frei Catch 21 22 05 2014 Project Documentation Version 3 0 5 Quality We use various meetings as a way to check and uphold the project quality All of these meetings fall into one of two areas The first area covers the classic project meetings which are held as advised by the college with an advisor or our client The second kind of meetings are meetings that fall inside the Scrum framework A Scrum meeting is always time boxed and has a clear purpose In addition to the meetings we assure document and code quality by having a standards document 5 1 Classic Project Meetings Meetings with Internal Advisor As mentioned above we have meetings of two different frameworks The first type of meetings are classic project management mee
13. KACHEN 46 Kee EE le TTT 46 2 8 No E REE SE SE EE SE GE er 47 ERT Lee le TE 47 3 Test Specificato sicir nung kanns 48 3 Cross Reference Tb 49 3 2 Test REP OVS nn E aa E EEE e E EE E aE EEEk 51 List of Tables Table 1 Cross Reference Table een een o aeei 50 Table 2 Form Template eu geeeseeeg eet anne 51 VIDEO COACHER Tel Catch 21 22 05 2014 Project Documentation Version 3 0 List of Test Reports Test Report 1 Test Report 2 Test Report 3 Test Report 4 Test Report 5 Test Report 6 Test Report 7 Test Report 8 Test Report 9 Test Report 10 Test Report 11 Test Report 12 Test Report 13 Test Report 14 Test Report 15 Test Report 16 Test Report 17 Test Report 18 Test Report 19 Test Report 20 Camera Controls TEST ananasen nesen 52 Live Stream Test sun a ren 53 Rig Build Quality Test V1 3 55 Rig Operation VI 3 ed ds aa em ee en eher 57 Low Repetition Mode sent aan anna rennen eher ee 58 Camera Tracking sinus eege eegen 59 SERVO control KEE 60 Motor Control Test 61 PS2 Controller Test REENEN 62 Servo house Test 63 Make Current Software Multithreaded V1 7 66 Color Recognition V1 2 sssssssssssssssssseseseeeessssssssssssssssssssssssssrreteesssssssssssesssssssesssntt 67 Odroid to Arduino Communication 68 Interrupt based Motor Driver with Input 69 Current Management V1 3 REENEN 71 Test Adafruit Motor Shield ENNER EE 72 Increased M x Speed en Nennen
14. The main difference from NANO is that this controller is based on the ATmega2560 This gives it almost four times more I O ports It works on the same clock speed but has overall better specification It costs three times more than the Nano compatible unit Figure 59 Arduino Mega 2560 Link http goo gl vhrLX0O Link http goo gl dtZV79 Main Component 2 Buttons Arcade Button 30mm Translucent Colors Description Link http goo gl zLD33p Simple arcade pushbutton in translucent colors Positives Figure 60 Adafruit Arcade Button e Easy to manipulate with feet e Translucent so light feedback can be added by customizing the buttons Negatives e Not made for being manipulated by feet e The durability is not known Technical Details e 30mm diameter e 12 grams VIDEO COACHER Feel Catch 21 22 05 2014 Project Documentation Version 3 0 Summary We have gone for this size of the button since it can easily be controlled by feet and its translucency which made it possible to add light as feedback These buttons are available in different colors which makes it easy for the user to differentiate the functions in the foot controller Illuminated Toggle Button 16mm with red LED Description Illuminated pushbutton with built in LED Positives e Can be manipulated with feet e Built in separately controlled light feedback Figure 61 Toggle Button Negatives e Not made for being manipulated
15. These libraries are required when compiling the software The libraries we are using are the following OpenCV Open Source Computer Vision OpenCV is an open source cross platform library developed by Intel Russia research center in Nizhny Novgorod and is designed towards real time applications We decided to use OpenCV in our system as it offers great functions for image processing and we are using its functions for capturing images from the camera processing the images and detecting certain colors in the images You can read more about OpenCV at http opencv org Qt Qt is a cross platform application and Ul framework developed by Digia and it is mainly being used for developing application software with a graphical user interface We are using Qt for our multithreading QThread and for displaying GUI elements You can read more about Qt at http at project org VIDEO COACHER fee Catch 21 22 05 2014 Project Documentation Version 3 0 F Standards for Document and Code VIDEO COACHER ie Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Standards for Documentation and Code Version 1 0 Version Date Changes in document Responsible 1 0 05 02 14 Created document Brian amp Jacob 20 01 04 14 Updated the document for second Bran 3 Jacob delivery 3 0 20 05 14 Changed document name and structure Brian amp Jacob Formatting Brian
16. 05 2014 Project Documentation Version 3 0 Introduction This document describes the design choices of our Foot Controller It will describe which choices we made and describe some of the alternatives The foot controller is meant to be the main human interface between the user and the central unit of our product With the Foot Controller the user should be able to control all main functions of the system with his feet The reason for making the Foot Controller is to leave the user hands free for juggling or for holding the juggling equipment The user will be able to control the unit with his feet It should also provide a display which can show information about delay time in high repetition mode and counter time in low repetition mode All buttons have separately controllable LEDs which are used to give the user feedback and allows the Foot Controller to be used in low ambient light The connection between the Control Unit and the Foot Controller is over USB Main foot controller components Arduino compatible Nano Arcade buttons and toggle button LED Custom made casing 3D printed 4 digit 7 segment LED display Component board o USB cable An overview of the Schematics and 3D drawings for the Foot Controller is provided The use of the Foot Controller is covered in the User Manual Assembling and troubleshooting is covered in the Assembly and Maintenance Manual 000000 VIDEO COACHER RE Catch 21 22 05 2014 Project Documen
17. 3 x USB Host MAX77686 PMIC UART x4 MMC 2 4bi s Exynos4412 Prime u USB3503A eMMC MMC 0 1 CPU Module module socket bit MIPI CAM MIPI CSI Exynos4412 Prime USB USB 2 0 Connector 2 lanes Application USB3503A Hostx 2 Processor 10 Ports HDMI HDMI 50 pins Type D C eo USB3503A UART 1 UART SIC U Console SD Card 10 100 USB2 0 Host x 4 USB OTG USB 2 0 Device MAX98090 ODROID X2 Block Diagram 12C 1 The diagrams are taken from http www hardkernel com main products prdt_info php g code G135235611947 amp tab idx 2 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Why the Odroid X2 Pros Small size Low power usage Low weight Runs Linux Cons Low performance especially single thread Discontinued Q2 2014 Making the system run on an Odroid X2 was a requirement set by Jan Dyre Bjerknes We did have concerns about the low single thread performance but are confident we are going to solve it with multithreading A part from the low performance the Odroid X2 seems like an ideal choice for this application The Odroid X2 is now discontinued from Q2 2014 after this the minimum number of units per order is 2000 We did not know this before 26 03 2014 For the final system we do recommend the Odroid U3 as it is not discontinued and is cheaper see more under replacements Replacements Since the Odr
18. By Even ystin Eyvind Christian Test Report 9 PS2 Controller Test VIDEO COACHER fe Catch 21 22 05 2014 Project Documentation Version 3 0 Test ID 24 167 see pp gt mm gt mm mw gt Need casing to support camera mount and prevent it from wobbling a ME Acceptance Must not restrict servo rotation Must stop camera wobbling Must replace Criteria pan servo attachment to rig Approach Designed a servo house in Solidworks and ordered 3D printout Attached to rig and placed pan servo inside Results A few design errors but found workarounds w comments Servo fits snugly House stabilizes mount and prevents camera wobbling Does not restrict servo rotation Looks great Tested By ystein Eyvind Test Report 10 Servo house Test VIDEO COACHER a Catch 21 22 05 2014 Project Documentation Version 3 0 Make Current Software Multithreaded V1 7 25 PBI 70 76 Test Level Integration Description Test for multithreaded design For efficiently making use of Odroid s four cores we need to make all software multithreaded Changes V2 Implemented the threads in two different ways to see if the implementation of the threads were the problem V3 We broke down our version into separate blocks so that no global variables and no communication between the different threads V4 Switched from boost to QT library simplified test code to have higher chance of success V5 New thread hand
19. Communication and power USB cable will cover the communication and power supply Type A to Mini USB type B USB must deliver power to run the o Arduino o 6LEDs o a4 digit 7 segment display e After testing a 5 meter cable we discovered that it could not deliver enough power to the Foot Controller Long and cheap cables can cause problems e Testing showed that a 3 meter cable worked properly VIDEO COACHER Fell Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 8 The Foot Control Circuit Schematic e One of our customers main requirements is a circuit schematic This is a important parts of the deliverables for the product The schematic gives the customer a better understanding of how the Foot Controller is built up and might be useful for troubleshooting and further development e The circuit schematic is made in Eagle CAD pr bde ARDUINO E x 4 LED_M Cer TITLE Catch21 Foot Control Document Number REV Date 15 May 14 16 39 09 Sheet 1 1 Figure 66 Circuit Schematic Foot Control VIDEO COACHER Fell Catch 21 22 05 2014 Project Documentation Version 3 0 6 Technical Document for Wristband Figure 67 Concept Drawing Wristband Controller VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Introduction The purpose of this document is to explain the technical choices
20. DC adapter PSU must reliably deliver approx 20V lower voltage is doable and tolerate up to 3 2A for prolonged periods of time We want current as low as possible to minimize heating Precondition Ability to manage drive current Current control is considered solved logic driven Changes V2 Changes Switched to slow fuse V3 Switched to two lead psu Acceptance Able to power system safely without blowing the fuse Criteria Secondary Able to uphold previously achieved top speed 600 rpm Approach 1 Hooked up PSU candidate 2 Attached fuse 3 Ran motor at low and high rpms V1 HP 19V 4 74A 3 lead 3A quick fuse V2 HP 19V 4 74A 3 lead 3 15A slow fuse V3 Toshiba Lite On 15V 5A 75W with two leads likely not able to run motor at 600 rpm 3 15A slow fuse V4 Hp 18 5V 4 9A 90W with two leads 3 15A slow fuse Results V1 Blew the fuse Likely caused by a current spike as the motor starts Will try w comments with slow fuse instead PSU Replacement Test V1 4 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 V2 Fuse didn t break but power supply shuts off Third lead possibly indicates internal logic break PSU need proper communication sensory input to operate Will look for a two lead alternative V3 It worked Able to power and run system but too weak to reach target speed Passes but will look for more powerful alternative with higher voltage V4 Works reach 600 rpm if
21. Failed Vibrations and noise from rig is now mostly alleviated and within acceptable levels VIDEO COACHER ae Catch 21 22 05 2014 Project Documentation Version 3 0 New camera fixture works well Sideways motion is worse than before It s slower and something jumps and pulls the belt at random intervals Entire code has to examined 28 2 2014 3 14 2014 3 21 2014 Test Report 4 Rig Operation V1 3 VIDEO COACHER er Catch 21 22 05 2014 Project Documentation Version 3 0 Test Level Test Type Description Changes Acceptance Griteria Approach Results w comments Tested By Date Result Low Repetition Mode 12 11 22 Test if our code can store and replay video via keyboard input The code must be able to store live event in a file and replay this All this while showing our recording in a window Ran the code in editor and on the Odroid via terminal Only certain formats work for the video capturing We were unable to change the resolution when run in editor but not on the Odroid 27 2 2014 Test Report 5 Low Repetition Mode VIDEO COACHER oz Catch 21 22 05 2014 Project Documentation Version 3 0 Camera Tracking r Test Level System Test Type Description Using color recognition the camera module will be able to move amp turn towards the tracked person object Acceptance This is just a prototype test so the test will be successful if the motor
22. In overall the we feel like we achieved what we wanted with respects to the college s learning objectives for the project We now have a good sense of what working with a project entails We have planned developed and implemented Also have we shown that we can choose the relevant tools needed and use them correctly We have demonstrated leadership and that we can handle communication within the group Finally have demonstrated that we can plan and implement testing both during and towards the final phase of the project as shown in our Test Plan amp Specification Document Evaluation of the product When it comes to the product we felt like we could have managed to achieve even more if we had been more aware of the extent of the documentation We are indeed satisfied with our product but we feel like we could have made the Video Coacher an even better system given a little more time But overall we have achieved the functions that our client Tanke og Teknikk asked of us in the beginning VIDEO COACHER et Catch 21 22 05 2014 Project Documentation Version 3 0 What could we have done differently and how Looking back now we see some things we and the college could have done differently What we as a group could have done Strategize even more in the start phase the planning was rushed due time constraints Keeping a stricter line on the different areas of responsibility there was an imbalance in the actual amount of wo
23. PCB which in the above schematic is represented by the grey box drawn around L298 plus the associated components Though the wiring to and from the box is accurate the contents inside is not The circuit inside the box is showing how we can build a replacement for the undocumented board The layout for the replacement is gathered from the L298 datasheet 8 Sense A and B can in conjunction with a series resistor be used to measure the motor current It takes the full load of the current so use an appropriate resistor that can handle it For more information see Motor Tech Document in Tech Document Collection found in the annex 10 https www sparkfun com datasheets Robotics L298 H Bridge pdf VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 External connections For simplicity the control unit outputs are bundled in two distinguishable connectors ISO 104871 type A and type B These are common connectors for car audio and can not be interchanged 15010487 connector plug side view Motor Out1 VCE Motor Out2 End Switch 1 Motor Out3 End Switch 2 Motor Out4 unassigned Figure 13 Map of external connections BL GND B2 GND B3 VCC BA VCC B5 PAN B6 TILT B7 unassigned B8 unassigned VIDEO COACHER EG Catch 21 22 05 2014 Project Documentation Version 3 0 PCB Design Work has begun on replacing the present control unit with a PCB o
24. Project Documentation Version 3 0 Main Component 5 Adafruit 0 56 4 digit 7 Segment Display w 12C Backpack This display is assigned to show the delay time set in High Repetition mode but can also be used to display other time information We did choose a display with a driver because it allows us to save 10 ports on our Arduino The driver gives the opportunity to add more displays to the Foot Controller Figure 64 4 Digit 7 Segment Display in a daisy chain with a Driver backpack Link http goo gl cKbQZ5 Alternative Main Component 6 Component Board A standard 4 digit 7 segment display which requires 12 digital ports from the microcontroller or a separate driver There is other sorts of displays which allow you to show text and not only numbers Readability is one important thing to consider if choosing something else Prototyping was first done on paper together with making a test circuit on a solderless breadboard For a more permanent solution we soldered the circuit on a Proto Board This makes it possible to make some changes to the finished circuit board without the need to make a new board The Proto Board design was based on our circuit schematic The components used are described in the Foot Controller Circuit Schematic Link http goo gl ohz2NY Figure 65 The Proto board of the Foot Controller VIDEO COACHER fel Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 7
25. Test Type Usability is an acceptance nn experience and require client Description What is being tested Changes List changes since last test run Acceptance Criteria What must happen for the test to be successful Approach If eligible summarize how you prepared the test the solution that you test Results i wicomments Any comments regarding the result of the test Tested By Name of the person responsible for the test Date dd mm yyyy Result Passed Failed Table 47 Form Template VIDEO COACHER 3 Catch 21 22 05 2014 Project Documentation Version 3 0 Test Reports Camera Controls Test 10 11 25 26 27 28 BBT Functional Dynamic Description We want to override camera controls with ODROID X 2 including power on off Changes Camera responds appropriately to control command All commande must pass for test session to pass Acceptance Camera responds appropriately to control command All commands must Criteria pass for test session to pass Approach Interface camera with ODROID x 2 Run available control functions List tested control commands in comment section along with results Results Used v4l2 ctl w comments Able to power on off camera streamon streamoff Able to change resolution with Video4Linux driver set fmt video width 1920 height 1080 Able to change frame rate with Video4Linux driver set parm 30 Able to change focus with Video4Linux driver Only tested with gui
26. a frame and paints it on the window created in the constructor VIDEO COACHER ev Catch 21 22 05 2014 Project Documentation Version 3 0 File Handler This class is responsible for writing stream images to a file or reading from an existing file and passing the frames on In addition to its constructor it has the following functions void readFromFile void writelmage cv Mat imageln void createFile and the following attributes cv VideoWriter inFile cv VideoCapture outFile cv Size resolution cv Mat frame int delay double frameRate File Handler functions descriptions Constructor In the constructor the size of the frames for example 640 by 480 is set void readFromFile This function opens a file called output mpg and reads from it at a pace synchronized to the framerate of the recording When it s done it releases the file void writelmage cv Mat imageln This function writes the current frame to file If there is no input file yet it will call void createFile first void createFile This function will create a file called output mpg to which video stream frames will be written VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Dynamic Delay This class is responsible for adjusting the delay whenever High Repetition Mode is activated It has the following functions void increaseDelay void decreaseDelay void setDelayedFram
27. be able to move movement around without going off camera So I can move while practicing Acceptance The camera follows the moving criteria object and will not let it leave its POV unless physically impossible to follow further Comments The should be a filter to stop the camera module from moving excessively when the detected object moves only short distances Table 7 ID 11 ID 20 As a developer Story Points 8 Website I want to have a website So I can share the current progress of the group with the world Acceptance Members of the group can criteria publish text and pictures on the website for the world to see Comments Table 8 ID 20 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 ID 12 As a user Story Points 12 Automated Camera I want to be able to practice Module without interacting with the camera module at all So I can just start my practice and keep on until I no longer feel like practicing without breaks Acceptance You can specify a delay prior to criteria start which will be kept throughout the practice session There s a signal which tells when the current delay iteration ends Comments Table 9 ID 12 ID 18 As a user Story Points 4 Easy Transport I want to be able to fit the rig with the camera module into my car So I can take it with me wherever I go Acceptance Rig and camera mo
28. by using a wristband Comments We ve started designing the wristband but we will not finish the physical parts as there s no time Table 39 ID 82 VIDEO COACHER TEE Catch 21 22 05 2014 Project Documentation Version 3 0 ID 92 As a user Story Points 10 Foot pedal I want to be able to control the system from a distance So I don t have to access the computer every time I m using the system Acceptance The system can be controlled criteria from a distance by using a foot pedal board Comments We ve printed assembled and finished the hardware aspect of the foot pedal and we will implement the necessary software between the delivery of this document and the final presentation Table 40 ID 92 ID 100 As a developer Story Points 20 Implement PID want make the motion tracking Controller as smooth as possible So I don t have to deliver a system with sub par motion tracking Acceptance The camera tracks the user in a criteria smooth manner using a PID controller Comments Table 41 ID 100 ID 103 As a user Story Points 12 Battery Solution for I want don t want the Odroid to Odroid reset every time it s unplugged So I can save files with the correct time format Acceptance Clock doesn t reset when the criteria Odroid is unplugged Comments This is also one of the lowest prioritized PBI s that we still want to include but don t have the time to
29. challenges we have shown that solutions have been found to many of them Some challenges have still not been solved and they can add more risks to the project In the end our goal is not to avoid all risks but to have planned for risks and risk mitigation We aim to achieve a level of risk that is acceptable for project execution VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 5 Sources 1 http en wikipedia org wiki ldentifying and Managing Project Risk last visited 21 05 14 2 http en wikipedia org wiki Scope project management last visited 21 05 14 3 http en wikipedia org wiki Risk Management last visited 21 05 14 4 http www differencebetween info difference between risk and challenge last visited 21 05 14 VIDEO COACHER i Catch 21 22 05 2014 Project Documentation Version 3 0 E Construction Document VIDEO COACHER fs Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Construction Document Version 1 0 Version Date Changes in document Responsible Even Christian 1 0 21 05 14 Creating the document Brian amp ystein Formatting Jacob amp Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER it Catch 21 22 05 2014 Project Documentation Version 3 0 I
30. change project direction if the client changes his mind e Discontinued or sold out hardware or software If possible have some personal backup equipment that the project can buy from project members if project equipment breaks If something breaks close to a deadline quickly check with client for an ok to reorder and send this order ASAP In general order parts as soon as the necessary information is in Arrange this so the project always has work to do and is not waiting for parts Use holidays when possible e Incorrect estimation of the project advancement Make main project goals as well as goals for each sprint and check sprint goal achievements at the end of each sprint Keep client informed of progress via meetings and monthly progression document e Changes in group members projected availability If availability changes inform the group leader Group leader informs the group and the group plans adjustment to work accordingly e Risk of overrunning the budget Have one person responsible for the budget and keep the client informed when projected budget changes becomes apparent Look at cost options when buying materials and equipment Use open source software when practical e Risk of the client going broke during the project Ask for budget to be made available early and order the main parts that we need early e Risk of advisors internal or external becoming sick or unavailable Use advisors as much as possible for advice and g
31. combinations He often wonders if he gets the combinations of throws and movements right but using a video camera is tedious and interrupts his training since he needs to doa combination a few thousand times to get it just right Using the Video Coacher Peter has set it to High Repetition Mode with a time shift delay of 6 seconds During practice he goes through about 10 different combinations that he wants to add to his routine With the Video Coacher he does 50 repetitions of each combination every practice and reviews about every 3rd attempt just by looking at the projector screen to check and fix errors Based on previous experience he had estimated a year to have the 10 combinations ready to be added into his routine But because of the fast and constant feedback given by the Video Coacher he has managed to get his material solid in about half the time he had estimated VIDEO COACHER 22 Catch 21 22 05 2014 Project Documentation Version 3 0 Thomas is a numbers juggler he has been struggling with getting his 7 club cascade ready for performance levels for years He imagines he has a pretty clear idea of what he needs to fix but it is very hard to work on correcting errors while juggling 7 clubs Thomas starts to use the Video Coacher and he sets the time shift delay to 20 seconds This gives him just enough time to gather the clubs and rest before his next attempt To his pleasure Thomas finds that the Video Coacher doesn t actually t
32. connected screen for instant self review You may now begin your training or you can read further about the system and what settings and control options it offers 26 GitHub https github com MrGobblez Catch21 tree master Catch21 VIDEO COACHER 2 amp i Catch 21 22 05 2014 Project Documentation Version 3 0 About the System The system offers two modes of operation High Repetition and Low Repetition You can easily switch between the two modes using the mode toggler on either one of the two remote controllers that come with the system On each controller there are five mode specific action buttons that do different things depending on which mode you are running is Sg pr u Figure 38 Concept Drawing Toogle Figure 37 Concept Drawing Wristband Mode Button a ae SS SS i VIDEO COACHER oc Catch 21 22 05 2014 Project Documentation Version 3 0 High Repetition High repetition mode is a mode specifically designated for instant self review during a personal practice session It is fully automated and designed to require minimal interaction with the user You can practice non stop without experiencing any kind of system prompted interrupts If you want to change the preset settings of High Repetition you can easily do so via the five action buttons on your controllers Low Repetition Low Repetition by contrast is a directly user controlled mode of operation where you decide what
33. correct id from scrumwise Integration Functional Interrupt driven code for motor driver that is controlled by Odroid over serial connection Odroid must be able to control stepper motor over emulated serial connection Sendt data from Odroid via terminal and later via Catch21 color tracking software Works Even H rtvedt 21 3 2014 Passed Test Report 14 Interrupt based Motor Driver with Input Catch 21 22 05 2014 Project Docume Test ID Story ID Acceptance Griteria Approach Results w comments ntation Version 3 0 Current Management V1 3 Functional Dynamic In order to run motor safely with common DC adapter we must find a way to keep currents below specified limits lt 1 68A per coil V2 not using pwm V3 Back to PWM Increased the native pwm frequency from 1000Hz to 31250Hz Currents below specified limit No performance loss Less heating V1 Testing if we are able to reduce currents w Pulse width modulation of the enablers Added PWM support to our stepper library V2 Different approach Testing if we can prevent current saturation by cutting power between steps Tested both one and two phase config Added power cut after a given delay in the isr isrStepperVer2 Tested several delay times at 50 rpm and lower 0 5 ms 0 75 ms 1 0 ms 2 0 ms V3 Testing again to see if we can regulate currents with Pulse width modulation Measured the frequency with scop
34. distractions We did this by limiting the PBI s moved into the sprint to a small number and we only added additional PBI s when a previous PBI was completely done PBI 476 Put Everything Together To solve multithreading we decided to assign it to different people than the ones first working on the task after this was done multithreading was very swiftly solved PBI 31 Stream Delay Stream Delay Time Shift was expected to be more of a challenge but the basic functionality was solved very quickly using a circular buffer containing image matrixes Summary Sprint 9 The main challenges seemed to be creating the new documents revising and rewriting the old documents as well as finishing the website and the product in time for the deadlines To solve this we decided to focus on documentation in the beginning of the sprint After this we divided our resources and had some team members work on documentation while others worked on the product PBI 82 Wristband Our challenge here was to get it ready create and implement the code in time Our approach to solve this was talking to our client and listening to his priorities Other features were of higher priority so we decided to complete the wristband only if we had time to finish the foot controller first Similar approaches were decided for other low value tasks and PBI s VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 PBI 117 After Analysis Documen
35. early nineties and have been developed specifically for the creation of software we believe that some of these test approaches are universal We use the Scrum development model which is an Agile model and we have strived to deliver a complete presentable product at the end each sprint Because of this we have been forced to adapt an Agile testing strategy This means that we have try to go through all levels of testing within each sprint as an integral part of the development The strategy has been a bottom up approach testing every new part or unit in isolation before combining it with other parts When two independently tested parts have been combined it has been considered a new part and we have run an integration test to see whether the merger went well VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 2 1 Levels of Testing Unit Testing This is the lowest level where we test the smallest components of our system in isolation The smallest components of our system will largely consist of single units of code or classes with one specific function Besides static inspection unit tests will also be functional dynamic tests where we run various dummy inputs to see if we receive the expected outputs By verifying that each unit behaves correctly it ideally makes the next test level less complex as it reduces it to checking interaction between units Integration Testing Here we test how newly integ
36. input and imgThresh as output Any space in imgHSV where the color is located between the two provided colors will be painted white in imgThresh whereas the rest will be painted black The result is that imgThresh will be a black and white picture where any area which used to be in the tracked color now is white and the rest is black e Anerode function is then run on imgThresh this function looks at groupings of pixels we use a 3x3 rectangle where it removes pixels outnumbered by other nearby colors As a result since it is in black amp white any noise in the picture is removed e The moments of imgThresh is calculated and we find the centroid of the image and assign the coordinates to the attributes posX and posY e The position of the centroid is emitted to the motion tracker and Process is set to ready in order to accept the next frame Tracking This class is responsible for actually tracking the detected object It uses the coordinates provided by Process and calculates if it should move the camera and at what speed As of writing this document the class only checks the X location of the tracked object and then goes through a bunch of IF s to see if it should move the further towards the edge the faster it will move We intent to implement a PID controller after this document has been delivered and plan to demonstrate its operation in the final presentation VIDEO COACHER fez Catch 21 22 05 2014 Project Docum
37. know you want this product e Show interest by posting questions and discussions on our Ask A Question forum at the www videocoacher com website e Spread the word about the Video Coacher what it is and what it does e If you are interested in or know anyone interested in financing development of the Video Coacher from prototype to full product have them contact Tanke og Teknikk for further information VIDEO COACHER 2245 Catch 21 22 05 2014 Project Documentation Version 3 0 6 Sources How to make promotional brochure 1 http www extension iastate edu agdm wholefarm pdf c5 131 pdf 21 05 14 2 http ianroubs unl edu live g2028 build g2028 pdf 21 05 14 3 http ctb ku edu en table of contents participation promoting interest brochures main 21 05 14 4 http www acupuncturetoday com mpacms at article php id 27953 21 05 14 5 http www vtaide com gleanings BrochureLayout htm 21 05 14 6 http www kuraoka com how to write a brochure html 21 05 14 7 http www allbusiness com writing marketing brochures 16704397 13 html 21 05 14 8 http www ehow com how 8360642 write promotional flyer html 21 05 14 9 http www printaholic com 15 tips for writing effective flyers 21 05 14 10 http www printwand com blog how to write a flyer that sells 21 05 14 11 http www aspencsg org rdp documents tactics simple brochure ot 21 05 14 12 http www thefreedictionary com brochure 21 05 14 VIDEO C
38. qv4l2 Able to zoom with Video4Linux driver Only tested with gui qv4l2 Tested By Even H rtvedt Test Report 1 Camera Controls Test VIDEO COACHER 3 Catch 21 22 05 2014 Project Documentation Version 3 0 Live Stream Test e BBT Functional Dynamic Description We want ODROID X 2 to recognize any HDMI display as video output and stream video in a format recognizable to that unit Acceptance ODROID X 2 detect HDMI device and forward stream to display Criteria Approach Connected various HDMI display to ODROID X 2 while receiving video stream from camera Results Tested Odroid X2 on w comments LG 32 Icd tv HDMI Works Beng 24 pc monitor HDMI and DVI with converter Works In Focus DPL projector HDMI Works Tested By Even H rtvedt Test Report 2 Live Stream Test VIDEO COACHER Ta Catch 21 22 05 2014 Project Documentation Version 3 0 Description We want the rig to be stable and wobble free It must be portable It must be able to facilitate the camera with three degrees of freedom lateral motion pan and tilt We want actuators microprocessors and control chips to be an integral part attached to of the rig Changes V2 Attached detachable tripods Attached camera mount to belt drive platform V3 Added a combined servo support and fixture for camera mount Acceptance That the rig is robust sturdy and can facilitate all the movements specified That Criteria legs rail mount a
39. should be incremented by 15 frames 0 5 seconds As a result the stream delay will be 15 frames longer Should the incrementation of delay cause it to exceed 599 it will calculate at what position in the buffer it actually points For instance if delay is set to 598 when this function is called it will set delay to 12 instead This function operates just like increaseDelay but reduces the delay Decrementation result in the delay attribute becoming less than 0 it will instead calculate at what position in the buffer it points For instance if delay is set to 3 thus pointing at the 4 frame in the buffer when this function is called it will be set to 587 instead This function simply sets delay to whatever the passed parameter is Should the parameter exceed the maximum or minimum of the buffer size it will set the size to the buffer maximum minimum This function is called when the Processing class is ready to process a new image It simply sets the boolean processReady to true causing the Processing thread to receive a new frame for processing whenever void inputlmage cv Mat moin is called next VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 void startRecording bool showWindow LOW REPETITION ONLY This function is only called when the recording session starts if the passed parameter is true the program will display the video stream while recording if false it will not It also sets recording to
40. small team we decided to let some administrative tasks be done in round robin fashion These are tasks like writing minutes and weekly progression documents We have also assigned everyone to different roles Responsibilities have been broken down into clear tasks as much as possible The different roles have been assigned to help us uphold the quality of the project work Name Area of Responsibility amp Roles Brian Opedal Group Leader Web amp Scrum Master Eyvind Nistad Integration amp Development Team Documentation Budget Schedule amp aa HENGE Development Team Even H rtvedt Implementation amp Development Team ystein rsnes Test amp Development Team Christian Thue Design amp Product Owner Table 50 Areas of Responsibility For a detailed list of assignments amp responsibilities see annex G VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 6 Resources 6 1 Physical Resources For the project planning and production of documents we are using e Microsoft Word with spell check amp Excel e Google Calendar Groups Docs Presentation amp Sheets e Libre Office Impress e Scrumwise e Fronter In the creation of the Video Coacher system we are using these tools amp technologies e Object Oriented Programming e Multithreading e LinuxOS e C C and ANSI C e OpenCV and OpenCV2 Libraries e Electrical Stepper and Servo Engines e Qt Libr
41. someRandomFunction Code goes here NOT LIKE THIS void someRandomFunction Code goes here Namespaces Never use using namespace lt somenamespace gt this can cause errors and general confusion Use somenamespace function instead Indents When coding make sure you indent properly after each curly brace start you will indent once on the next line and after each curly brace close you will remove one indent on the next line Example class Some_Class someFunction if true Code goes here NOT LIKE THIS class Some_Class someFunction if true Code goes here VIDEO COACHER Vai Catch 21 22 05 2014 Project Documentation Version 3 0 Comments Make sure you make comments throughout your code explaining non intuitive code you should also add a comment after each closed curly brace saying what function class etc is at an end Using our previous example class Some Class someFunction if true Code goes here End of if End of someFunction End of Some Class VIDEO COACHER ifs Catch 21 22 05 2014 Project Documentation Version 3 0 G Distribution of Assignment and Responsibilities VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Distribution of Assignments amp Responsibilities Version 1 0 Version Date Changes in
42. to record and when to show it on screen Its aim is to be an interactive aid for tutoring one to one or lecture type situations rather than for personal exercise While running in Low Repetition mode your remote controller offers a new set of mode specific options accessible via the same five action buttons as before VIDEO COACHER Z Catch 21 22 05 2014 Project Documentation Version 3 0 Control Map The system comes with two controllers One foot controller to be used when your hands are occupied and one conveniently attached to your wrist for when they are not You can freely choose to use either one or both in combination The wristband is wirelessly connected via bluetooth with a range up to 10 meters while the foot controller has to be connected via USB cable A 3 meter cable is provided Figure 39 Concept Drawing Foot Controller Buttons Figure 40 Concept Drawing Wristband Buttons Toggle Button 1 Button 2 Button 3 Button 4 Button 5 HIGH Increase Decrease Loop Turn on off Slow delay delay sound motion Fast Slow LOW Record Stop Play Pause award Rewind mation The wearable remote controller have an estimated battery life of 20 hours continuous use turn it off to save power between use You may recharge it from a standard USB port VIDEO COACHER 2 30 Catch 21 22 05 2014 Project Documentation Version 3 0 Instructions This section will briefly go through the five control options
43. true which in turn causes received frames in void inputlmage cv Mat imgIn to be saved to file It then asks Cameralnput for a frame from the camera void stopRecording LOW REPETITION ONLY Basically the reverse of void startRecording bool showWindow it stops the stream from being displayed stops received frames from being written to file and signals the program to start the video playback Process Process is the class responsible for receiving and processing frames with regards to color detection Process does not do anything in its constructor and it only has the function void processlmage cv Mat img and the following attributes int posX int posY which holds the position of the estimated center of the detected color VIDEO COACHER cs Catch 21 22 05 2014 Project Documentation Version 3 0 This function is called from the Control class whenever a new frame has arrived from the Cameralnput class unless Process is busy processing a previous frame This function is somewhat complex so it will be explained by running through the function What happens in this function is the following e The frame passed in the parameter is cloned into a new picture imgHSV o imgHSV is converted from RGB color space into HSV color space e The parameter frame gets cloned into another picture imgThresh e A function called cv inRange input cv Scalar fromColor cv Scalar toColor output is called with imgHSV as
44. we made when designing the Wristband Controller for the Video Coacher At the time of writing the Wristband Controller is designed and is planned to be assembled for the Final Presentation of the Video Coacher VIDEO COACHER Von Catch 21 22 05 2014 Project Documentation Version 3 0 Purpose of the Wristband Controller e The customer wants to be able to control the Video Coacher with the Wristband Controller e The Wristband Controller is intended to send the same control functions as the Foot Controller to the Central Unit e The Wristband Controller should be o wearable on the wrist o able to send the control functions wirelessly o battery powered e The user interface with the buttons is scaled down from the Foot Controller but we are not including a time display A display might be added if the Wristband Controller is further developed to a commercial product e Our client wants to see a working prototype for making a proof of concept We are not able to make this as neat as an industrial designer But this is perfectly acceptable for our customer e Analternative to make a dedicated Wristband Controller was to make an app for one of the new wearable smart watches which are on the market now An example is the open source Pebble http goo gl MYWSOu Adding a smart watch app to the Video Coacher is something which could be considered for a later development of the project Since we are still awaiting a wearable that would
45. with 4 points is twice as difficult as one with 2 points even if the amount of work that needs to be done is the same Comments are there in case you need to provide additional information to the user story or things to take note of Explanation of ID gaps and colors in the backlog VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Each PBI has its own ID number and as you probably will notice there are gaps between listed ID s The reason for this is that if you create a PBI on Scrumwise the program we re using to organize the backlog and delete it for any reason the ID will still be taken So if one item has the ID 40 and the next is 45 there might not even exist any items for 41 44 We ve also chosen to not include every PBI from our backlog on Scrumwise due to some of them acting more like notes instead of normal PBI s For instance we might have a PBI that says Sprint goals for sprint 2 or Ask Richard if he can print on Wednesday We feel including these in the official backlog wouldn t make much sense There will also be a color scheme on the text of each PBI title they will mean the following e PBI was scrapped and will not be included in the final build e PBlis not yet finished but intended for final build e PBI has been successfully implemented in the final build e PBI doesn t relate to the product but is still included due to its importance for the project The PBI s not yet fini
46. 1 22 05 2014 Project Documentation Version 3 0 5 2 SolidWorks Models Foot Controller Casing The foot controller consists of four parts Right hood left hood right bottom plate and left bottom plate This is because the controller is quite large 39x15cm and the 3D printer limit is 20x20cm The dimensions were derived from measuring the optimal spacing between control buttons They were spaced wide enough apart so that the user wouldn t risk stepping on more than one button Even though the design is simple it was a challenge because it involved working with SolidWorks assembly for the first time Figure 17 Assembly view of the Foot Controller casing VIDEO COACHER Fa Catch 21 22 05 2014 Project Documentation Version 3 0 Wristband The wristband casing is currently under development It was a challenge finding the most optimal layout for the internal components while keeping the dimension as small as possible The current design is expected to have the dimensions 6 8x6x1 2cm The control buttons will in order to reduce height be glued permanently to the top lid while the remaining components will be attached to the bottom plate by way of screws and other holding mechanisms Ov off Mode kend Figure 18 Concept drawing of current design VIDEO COACHER PW Catch 21 22 05 2014 Project Documentation Version 3 0 Figure 19 Bottom plate featuring deadicated slots
47. 195 190 185 180 175 170 165 180 155 150 145 140 135 130 125 120 Ss g 110 105 400 Mon Tue Wed Thu Fri Mon Fri 2413 25 3 26 3 2713 28 3 31 3 1 4 214 34 A Burndown Chart 5 Sprint 5 VIDEO COACHER fet Catch 21 22 05 2014 Project Documentation Version 3 0 Sprint 4 5 o Burndown Chart 6 Sprint 4 VIDEO COACHER 20 Catch 21 22 05 2014 Project Documentation Version 3 0 240 Sprint 3 210 192 25 hours of work left at the end of 200 the day on Monday 3 3 2014 Mon Tue Wed Thu Fri Mon Tue Wed Thu Fri 3 3 4 3 5 3 en 713 10 3 113 12 3 13 3 14 3 Burndown Chart 7 Sprint 3 VIDEO COACHER Frl Catch 21 22 05 2014 Project Documentation Version 3 0 270 Sprint 2 Mon Tue Wed Thu Fri Mon Tue Wed Thu Fri 1712 18 2 19 2 20 2 2112 2412 2512 26 2 27 2 28 2 Burndown Chart 8 Sprint 2 VIDEO COACHER Falk Catch 21 22 05 2014 Project Documentation Version 3 0 300 Sprint 1 Mon Tue Wed Thu Fri Mon Tue Wed Thu Fri Mon Tue Wed Thu Fri 2711 2811 29 1 30 1 3111 3 2 42 512 6 2 712 10 2 112 1212 1312 1412 Burndown Chart 9 Sprint 1 VIDEO COACHER Fall Catch 21 22 05 2014 Project Documentation Version 3 0 2 Scrumwise Sprint Overview Sprint 9 Complete this sprint In progress Team Catch 60 55 hours ahead j ystein 0h left Eyvind 0 5 h left Jacob 13 75 h left 2 Brian 16 2 h left Even 1 75 h left ER Sprint 9 Goals Ohleft In progress I Sprint 9 M
48. 1B 1 lt lt CS20 TCCRIB amp 1 lt lt CS22 1 lt lt CS21 void loop In the main loop we poll for incoming serial communication When data is received it is decoded the timer interrupt is set at correct step rate and the PWM duty cycle are set void isr The interrupt service routine This is called at a rate corresponding with desired rpm formula 1 revolution rpm x steps per S When inserting the values of our stepper motor we can simplify it to 8 1 Ss 10 rpm 3 If direction 0 the motor will move one step in the given direction if the direction is 0 the power will be turned off VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 StepperMod This class controls the stepping of the motor It keeps track of the current step and which coils to magnetize It is based on the stepper library supplied with the Arduino With modifications to increase max speed from 300 rpm turn off power to the coils when not needed and make it non blocking HMsTimer2 This enables us to use the hardware timer 2 on the Arduino to create a timer interrupt at a given rate It is available from the Arduino Playground we have done some minor modifications to it to increase the resolution to 0 05ms by decreasing prescale to 32 and start the counter at 230 Code TCCR2 1 lt lt CS21 1 lt lt CS20 TCCR2 amp 1 lt lt CS22 tent2 230 This gives us
49. 219 2 Traditional Approaches to Improve Juggling Training rrrernvnenvnnvnrnrrnenvrrnvnenenrrnrnrrrrnenrenn 219 3 Make Your Training Matter The Video Coacher ee eeeeeeeeececeeeeeeeeeeeeeeeeaeeeeeeaeeeeeeaees 222 4 Future Products The Video Coacher Pro Version 225 5 Video Coacher from Prototype to Produet unu enesnineeeen 225 Eeer 226 Glossary and Acronyms Name Description Workshops Course ina specific field of juggling lasting for a shorter duration Teeterboard Acrobatic apparatus Swinging Trapeze Acrobatic apparatus Flying Trapeze Acrobatic apparatus Chinese Pole Acrobatic apparatus A fixed and more advanced version of the Video Coacher Pro Video Coacher VIDEO COACHER voir Catch 21 22 05 2014 Project Documentation Version 3 0 1 The End to Inefficient Juggling Training We have all been there after one or even a series of unfulfilling practicing sessions where you ve had no apparent improvement or even worse you start noticing that your technique is degrading What If there was a better way to practice a way to make it easier to improve The problem with juggling training There are several factors that reduce the quality of a juggling practice session For the average juggler practice is often done at a low degree of both efficiency and quality Most of the quality factors are related to feedback Because feedback is mainly internal and received through the eyes and b
50. 73 PSU Replacement Test V1 A 75 Stream Delay Implementation ccccccccccccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeess 76 Use of Foot Controller cccccscssssccccccccccceesseesesssssessesessseeesssaaaecesseasaaaaaasaasaaaaaaaaaaaaaes 77 VIDEO COACHER 20 Catch 21 22 05 2014 Project Documentation Version 3 0 Glossary and Acronyms Name Description BBT Black Box Testing CS Code Swapping IA Internal Advisor OEM Original Equipment Manufacturer PBI Product Backlog Item QA Quality Assurance SW Software Refers to development methods based on Agile iterative and incremental development Originates in Software development TBA To be announced Scrum An agile project development model WBT White Box Testing VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 1 Importance of Testing When working on a large projects individual parts and software units are often developed separately before being merged together into one integral system Even with plans and specifications to guide the process along it is easy for developers to lose sight of the goal and develop components that do different things from what was intended or in worst case components that are not compatible with one another Various tests are therefore required at any level of development including upon completion to verify that all components and functions meet
51. COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Headings and Subheading e First headings should have o Font Arial Size 16 and Numbering 1 2 3 etc e Second headings should have o Font Arial Size 13 and Numbering 1 1 1 2 1 3 etc e Third headings or lower o Font Arial Size 11 Bold text and No numbering Ex 1 Heading Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action 1 2 Heading Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Figure 23 Formatted Heading Example VIDEO COACHER re Catch 21 22 05 2014 Project Documentation Version 3 0 Text size and line spacing e Font Arial Size 11 and Line Spacing 1 15 Ex Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Figure 24 Formatt
52. Mode Button Ask 238 Figure 10 Concept Drawing Foot Controller Buttons A 240 Figure 11 Concept Drawing Wristband Buttons 240 VIDEO COACHER 22 Catch 21 22 05 2014 Project Documentation Version 3 0 Setting up the System 1 Unfold the two tripods x T pods Figure 30 Concept Drawing Tripod 24 These are concept drawings Actual devices may look very different from how they are represented in this early version of the User s Manual VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 2 Attach tripods to the rail with the easy lock camera screws Figure 31 Concept Drawing Rig Motor camera and servos come attached to the rail VIDEO COACHER Fakes Catch 21 22 05 2014 Project Documentation Version 3 0 3 Connect rig with the Central Unit use ISO A for motor and end switches ISO B for servos USB for the camera Figure 32 Concept Drawing Central Unit amp Rig 2 Central Unit is in this document referring to the physical unit that centralize all the connections but this is not entirely accurate The unit contains two components The actual Central Unit Odroid X2 and the Control Unit VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 4 Plug in a keyboard and mouse for desktop navigation Central Unit Figure 33 Concept Drawing Central Unit VIDEO COACHER Z Catch 21 22 05 2014
53. OACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 Introduction The purpose of this document is to describe the Odroid X2 why we are using it and other possible units The Odroid X2 Main features open development platform based on Exynos4412 Prime 1 7GHz ARM Cortex A9 Quad Core with 2GB memory runs Linux energy efficient rated to pull 1 1 5A 5V small and light VIDEO COACHER 27 Catch 21 22 05 2014 Project Documentation Version 3 0 Detailed specifications Standard 3 5mm headphone jack and microphone jack HDMI Digital 10 100Mbps Ethernet with RJ 45 Jack Auto MDIX support USB2 0 Host High speed standard A type connector x 6 ports 50pin IO expansion port for LCD I2C UART SPI ADGC GPIO interfaces Storage Option Full size SDHC Card Slot eMMC module socket Camera Option MIPI CAM connector MIPI CSI 2 lanes Power Option 5V 2A Power System u boot 2010 12 Kernel 3 0 15 Android4 0 x ICS Software Source code will be uploaded on download page after first shipment VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 VIDEO COACHER 279 Catch 21 22 05 2014 Project Documentation Version 3 0 Block diagram Exynos4412 Prime CPU Module Exynos 4412 Prime Application Processor Cortex A9 Cortex A9 32KB I D Cache 32KB I D Cache NEON NEON Cortex A9 32KB I D Cache NEON USB3503A HSIC USB Hub
54. OACHER Frl Catch 21 22 05 2014 Project Documentation Version 3 0 J User Manual VIDEO COACHER 224 Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD User Manual Version 1 0 Version Date Changes in document Responsible 1 0 21 05 14 Created document ystein Formatting Jacob Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER Frl Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents DS EE DDR 229 Klee NEE RE 230 Getting Started EE 237 About the System WRPPERERERTREREREUESTEUFEETFERTICHERFRERERERERFRENESEETFEITFERURCHERFHEFERLTERFEERLEEHEEFRLERFGECHERFRERERFEERERERFRENLUERE 238 lo MAID WEE 240 logo ge E 241 nis le EE EE 243 List of Figures Figure 1 Concept Drawing Trpood uk 230 Figure 2 Concept Drawing Rig Motor camera and servos come attached to the rail 231 Figure 3 Concept Drawing Central Unit amp Ho REENEN 232 Figure 4 Concept Drawing Central Unit Henne 233 Figure 5 Concept Drawing Central Unit amp Foot Controller nennen 234 Figure 6 Concept Drawing Video Coacher with Display ssssssessesrssesssrsssesrsrrsrersrrsrrsrssrsns 235 Figure 7 Concept Drawing Power Supply Un 236 Figure 8 Concept Drawing Wristband u nenne 238 Figure 9 Concept Drawing Toogle
55. Project Documentation Version 3 0 2 Documentation Guidelines When creating official documents for use in the Project Documentation these guidelines below should be considered for the sake of consistency readability and a more professional look To types of standards exist e Formatted standard intended for the Project Documents collection e Unformatted standard intended for the Document Responsible to post process We will show them by simply providing examples of the two types Should something be unclear contacting the Document Responsible is the advisable course of action 2 1 Formatted standard Documents ready for implementation into the official documents collection should follow the rules presented here Show an example document covering the areas below VIDEO COACHER Tara Catch 21 22 05 2014 Project Documentation Version 3 0 Front page All documents will have a front page like on the in figure 1 Depending on content a document should have a List of Table and Figures Glossary Acronyms table also Ex Project Name Date Document Name Current Version Tanke og Teknikk JAN DYRE BJERKNES PhD Document Name Current Version Version Date Changes in document Responsible Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes AUTHOR Figure 22 Formatted Front page example VIDEO
56. Repetition Check settings Figure 8 Central unit flow diagram VIDEO COACHER Frl Catch 21 22 05 2014 Project Documentation Version 3 0 2 2 Control unit After the Arduino has booted it will wait for input from the Central unit When the data is received and decoded the step rate is setup The microcontroller returns to listening for input and a timer interrupt triggers the stepping of the motor at the given rate This results in a non blocking design The motor controller is currently the only part implemented on the Control Unit The program flow is shown in Figure 3 Motor Controller States ia Parada ML A na Edson Buskan d Univesity College Constructor amp setup When recieving data When a timer interrupt occurs Figure 9 Motor Controller States VIDEO COACHER Pr Catch 21 22 05 2014 Project Documentation Version 3 0 3 Software This section will provide an overview over the structure of the classes we have in our software The UML diagram shows what classes there are and which classes are connected A more detailed description of each specific class will follow explaining what is its purpose and how it works We will continue to develop the software until the 3rd presentation and the classes described here are subject to change For the latest software please check our repository at github gt Any code quoted pasted from source files will be written in dark green text 5 The proj
57. W 11 11 Stalking Camera 12 20 Website 13 12 Automatic Mode 14 18 Rig Portability 15 13 Slow Motion 16 15 Metronome 17 14 Stream Navigation Case 18 16 Multiple Angle Case 19 31 Stream Delay Case VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 SEES 20 32 Camera Zoom Case 21 17 Servo Control 1 22 17 Motor Control 1 23 PS2 Controller 1 24 Servo House 1 25 Make Current SW Multithreaded 7 26 Color Recognition 2 27 Odroid to Arduino Communication 1 28 Interrupt based Motor Driver with Input 1 29 Current Managing 3 30 Test motor shield from Adafruit 1 31 B 32 Increased Max Speed 1 33 PSU Replacement Test 4 34 Stream Delay Implementation 1 35 Use of Foot Controller 1 Table 46 Cross Reference Table VIDEO COACHER Tall Catch 21 22 05 2014 Project Documentation Version 3 0 3 2 Test Reports All test reports have been done in direct co relation with the Product Backlog Items we ve been working on and a successful test intends to prove that a PBI has been completed Form Template Name Name of test Test ID Use the same ID as before if the test is run more than once Story ID If eligible specify what user story the test intend to fulfill PBI Product Backlog Item Number Task Task Number in the PBI Test Level Unit Integration System or Acceptance
58. added to the product backlog In a Scrum project it is never realistic to fully complete the product backlog as it contains everything All items that add value to the product whether they are new functions bug fixes or nice to have features are added to the product backlog Since this document has to be delivered before the project is finished we have listed all PBI s that are not currently done These have been divided into PBI s that we believe will be finished this sprint In Progress and all the other PBI s To Do There are two reasons for uncompleted PBI s Requirements those are time and importance Time signifies the time it would take to complete the PBI and importance the value that the PBI can add to our product Often there is a relationship between the two as well 6 1 In Progress PBI s e 120 Risk Analysis Document Ver 3 e 49 Create Parts amp Datasheet document e 116 Sprint 9 Misc shizzle e 112 Update Requirements Document e 110 Manuals e 111 Document Code e 119 Test Plan Strategy Document ver 3 0 e 115 Make PMP 3 0 e 122 Website e 117 After Analysis Document e 118 Project Plan Ver 3 0 e 121 Sprint 9 Goals 2 Document Prosjekthandbok 2012 Page 43 http g00 gl T3S4mS 21 Document Innlevering hovedprosjekt 2014 Page 1 http goo gl bcBno2 VIDEO COACHER Je Catch 21 22 05 2014 Project Documentation Version 3 0 6 2 To Do PBI s 23 Presentation 3 o A PBI of the highest importance w
59. ake any time away from his practice since he can watch the feedback in his 20 second rests between each attempt During his rests he looks at the projector screen and evaluates what he can do differently when he is done resting he goes for his next attempt After a few weeks Thomas has a deeper understanding of how to do 7 clubs correctly he has noticed several issues with his juggling he wasn t aware of and is working to correct them he notices straight away if he starts to develop or is slipping back into bad habits as he sees pretty much every attempt during his rest periods Within a few months Thomas is performing 7 clubs on stage rock solid After seeing his rapid progress all of his professional juggling contacts have now bought the Video Coacher Lisa is working on her juggling routine and she has started to use the Video Coacher in Low Repetition mode because she wants more control but she doesn t want to rewind to watch her routine after every run through With the Video Catcher wristband she just has to press start and then perform her routine Once she is done she pushes the stop button on her wristband and the recording is then automatically played back to her from the beginning Lisa also likes to keep her routine runs so she brings a USB memory stick that she plugs into the Video Coacher When practice is over Lisa just pulls tne memory stick and goes home with all her material stored on it Jonas is a juggler and inventor he often l
60. al Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER es Catch 21 22 05 2014 Project Documentation Version 3 0 Document Purpose The purpose of this document is first to identify relevant risks in regards to the Catch 21 Project Further it was made to present possible strategies to achieve the main project goals even if some of these risks turn into incidents The document will describe our main challenges and solutions for previous sprints and possible future risks and solutions Risk vs Challenge Definition The main difference between a risk and a challenge is that a risk is something that is potentially harmful to the project goal the company or the employees A risk means a real possibility of some kind of damage or loss A challenge is something that calls us to stretch further i e to reach for a solution It is something difficult but at the same time it offers us the opportunity to test ourselves our strength and or intelligence and perseverance A challenge often lets us gain something of value if we can overcome it Often a challenge contains risks e g when joining a snowboarding competition there is a prize to gain if the performer wins but the performer is also at a higher risk of bodily harm in a competitive situation VIDEO COACHER fe Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents Glossa E El
61. amera can continue recording even though the feed is paused forwarding backwarding Reaching either the end or beginning of the session time limit pauses the video Comments Table 13 ID 14 ID 16 Multiple Angles As a user Story Points 12 want to be able to see my practice from multiple angles including first person So I can see myself from different angles without doing several recordings Acceptance criteria The user can specify which camera he she wants to see at any given moment The user can choose to see all video streams simultaneously on a single screen Comments Table 14 ID 16 24 Catch 21 22 05 2014 Project Documentation Version 3 0 IDH 31 Stream Delay As a user want to be able to set a delay on the stream So I can practice and then just stop and watch myself without interacting with the module Story Points 8 Acceptance The user can set a delay and the criteria stream will be delayed by that much before being displayed Comments Table 15 ID 31 ID 32 As a user Story Points 16 Camera Zoom want to be able to zoom in on the video So I can see more details Acceptance You can zoom in on the picture criteria Comments Table 16 ID 32 ID 38 As a user Story Points 20 Juggling Beat want to see my average Histogram juggling beat So I can tighten up my practice routine
62. amp Jacob Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER fee Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents List Of Eigures eenegen 169 ge le Oe ET 170 2 D cumentation GuideliN s csiis rareseecsss irei i a a i nnbkkabbnekbpakde ydet vie 171 2 1 Formatted standard WEE 171 2 2 Untormatted standard u ee ee ee ren 176 Ke Ee en 179 List of Figures Figure 1 Formatted Front page example snrrnrnrnnnnrnrnnnnvnnnrnnrnnnrnnvnnnrnnvnnnennennennnennnrsvnennensnennsee 172 Figure 2 Formatted Heading Example AANEREN 173 Figure 3 Formatted Text Example AEN 174 Figure 4 Formatted Table Example REENEN 174 Figure 5 Orange Color Value RGB rrnrnnnrnvnnnvnnvnnnrnnnrnnnnnnvnnnnnnvnnnrnnrnnnernennnrsnnnnnensnennrnenennree 175 Figure 6 Formatted Footnote Reference mrrrrnnnnrnnnnnnvnnnvnnvnnnrnnvnnnnnnnnnnernennrnnnenenesrnennrnsnennree 175 Figure 7 Unformatted Front page ana 176 Figure 8 Unformatted EE E 177 VIDEO COACHER Ja Catch 21 22 05 2014 Project Documentation Version 3 0 1 Introduction In this document we will present you with our standards regarding documentation and source code The way we do that is by presenting examples of instances where standardization is required in our opinion VIDEO COACHER riv Catch 21 22 05 2014
63. amp sockets for A Bluefruit Ez Key B Battery C Charger amp D On Off Switch VIDEO COACHER it Catch 21 22 05 2014 Project Documentation Version 3 0 Servo House It was a bit challenging coming up with a design concept for the camera mount reinforcement since it involved actual moving parts The solution was to design a circular servo house around the bottom servo that is fixed to the platform A separate part a disk acts as an extension of the servo shaft The disk revolves close to the fixed walls of the servo house and the wall prevents the shaft from wavering The design was rather successful Figure 20 Servo House model VIDEO COACHER FR Catch 21 22 05 2014 Project Documentation Version 3 0 Figure 21 Servo House mounted on the Camera Rig Central Unit Cabinet The Central Unit Cabinet will encapsulate Odroid and the Control Unit It will be design so that all of the Odroid s connections are accessible from the outside The Control Unit connections will also be accessible from the outside To avoid overheating we will add a fan inside Work on this model has not yet begun but the cabinet is expected to be ready for the 3rd presentation VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 6 Uncompleted Requirements PBI s All requirements not fulfilled need information on why they have not been completed Using the Scrum framework every new requirement and feature is
64. and collaborative software development oriented methods PBI Product Backlog Item Siteswap Mathematical system for describing juggling Table 48 Glossary and Acronyms VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 1 Project Scope 1 1 Project Boundaries e We will deliver documents to our college and the Video Coacher system to our client e The Video Coacher system will focus on fast video feedback for juggling indoors e The system shall aid the client in explaining juggling patterns to an audience e The Catch 21 system will be a proof of concept prototype e The system will have 3 main parts a central unit a rig unit and a foot control unit e The system shall be able to capture and display juggling and human movement on video e The system will include a wristband unit that makes it possible to control the system at a distance 1 2 Project Objectives There are two main objectives to carrying out the project Learning Objectives The first main project objective deals not with the product but with the learning objectives stated in the course description By executing this project work the group should achieve skills in basic project work both how to organize and how to document a project from beginning to end We are to learn collaboration with others during a longer project and show that we can plan develop and implement a project of this size Through the project period we sho
65. aries e Boost Libraries for threading e Arduino IDE e Qtcreator IDE e GitHub e Arduino Tech e And various drivers Catch 21 22 05 2014 Project Documentation Version 3 0 6 2 Human Resources As a project we have limited but sufficient resources to develop a prototype This prototype should provide a proof of concept of the Video Coacher system To reach this goal the resources we have must be spent wisely An important part of management will be to effectively distribute and allocate resources based on priority Group members skills Our group consists of six engineering students two within the field of electrical and four within computer engineering Of the four computer engineers two are specialized in embedded systems and the other two in virtual systems Considering differences between the individual members it would be wise to use and allocate engineers with consideration to the specific specializations The obvious would be to set the electrical engineers to the electrical and hardware side of our project while letting the computer engineers cover coding and implementing of software Much of the work requires mixing and matching engineers between their fields like when tending to documentation and the like Advisors skills Both advisors have doctorates within technical areas This indicates that help and guidance most likely will be available if used with consideration and respect Advisors will mainly be guides
66. as a Bluetooth controller It does not require a microcontroller but adding a microcontroller will enable more functions Multiple of these controller can be bound to a single device In future development this add the possibility to make the Foot Controller wireless or to add more than one Wristband Controllers to the Central Unit Pin 1 12 where you connect the buttons is preprogrammed for the 4 arrow keys return space w a s d 1 and 2 These buttons can be remapped over the air Adafruit offers as always good support with informative datasheets nice sample projects documented on videos and the Adafruit s forum is very active Negatives The product was hard to get hands on it was out of stock with no estimated date of arrival The Central Unit receives the control signals as ASCII codes from the Wristband Controller This has to be taken in consideration when programming the Central Unit The Foot Controller also sends control signals the best thing is to send them in the same format This might raise some challenges Summary This is a good device for making a working prototype of the Wristband Controller This can prove if the concept of the Wristband Controller is a useful part of the Video Coacher This simplifies our development saving time and money and we do not need to find a suitable microcontroller and a wirelessly transmitter board VIDEO COACHER Fresh Catch 21 22 05 2014 Project Docum
67. as well as lecture demonstrations It should demonstrate proof of concept and is expected to have a feature list that covers e Movement tracking e Record and auto playback when stopped e Delayed video streaming 2 Stakeholders The stakeholders for the Catch 21 Project are e Tanke og Teknikk by Jan Dyre Bjerknes e The Project Group Members e The College HBV including its supervisors and examiners e The Circus Industry e The Dance Community e The Educational Sector 3 Schedule 3 1 Gantt Diagram The duration of the project is approximately 5 months As we are using Scrum the time available is divided into 11 sprints with each lasting 1 3 weeks Within each product sprint an entire development cycle is covered with a potential deliverable ready at the end As we see from our chart below Figure 1 the different periods are displayed horizontal paired up against dates vertical When looking at the chart we clearly see the length of each sprint We have modified Scrum by using two different kinds of sprints throughout the project The first is a product sprint orange where we focus on the product The second is a documentation sprint red where we focus on producing the documentation required by the college Catch 21 22 05 2014 Project Documentation Version 3 0 The Gantt chart below will give an overview of the project timeframe and a breakdown of sprint periods Gantt Chart Overview o y y y y A DN y
68. assigned o 8 unassigned USB ports e Camera e Foot Controller e Wi Fi e Bluetooth e Mouse e Keyboard Ethernet 10 100 cat 5 connection Micro HDMI Video output to any external HDMI device Sound Output For audio feedback you can plug a speaker into the standard 3 5 mm audio jack Internal e USB connection between Central and Control Unit VIDEO COACHER 2a Catch 21 22 05 2014 Project Documentation Version 3 0 2 3 Camera Rig The Camera Rig is based on an OpenBuilds Linear Actuator Project which is Open Source Maintenance Important accepts about the maintenance of the camera rig e Keep all nuts tight Apply thread lock glue if necessary e To keep the tension of the timing belt o The End Mounts can be moved outward o Loose the 8 bolts which mount one of the End Mounts to the rail use an 3mm Umbraco o Tighten the belt by pulling this End Mount outwards Tighten the bolts o If necessary repeat the procedure on the second End Mount Figure 42 The End Mounts on the rail VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 e The second option is to shorten the belt o First move the End Mounts inwards o You can then shorten the belt o You might need to move the End Mounts outward again e The Camera Platform should be able to move smoothly on the rail It has 4 wheels two of them having adjustable distance against the rail To adjust o Use a 8 mm wrench move the adjustable whee
69. ast Forward Skip frame This button have two functions depending on context in mode If video is playing the button is fast forward If the video is paused then the button skips forward a few frames for each push 4 Rewind Skip frame This button have two functions depending on context in this mode If video is playing the button is rewind If the video is paused it skips backwards a few frames for each push 5 Slow motion This action sets the playback in slow motion with the same two speed presets as in High Repetition mode Push once for half the speed Push again for one quarter speed Push again to return speed to normal VIDEO COACHER 22 Catch 21 22 05 2014 Project Documentation Version 3 0 Recorded videos are stored locally on the central unit in a common video format which can be played on most devices You can access them through the Odroid desktop environment by navigating to the video folder located at videocoacher videos You may replay them on Odroid or transfer them to a connected USB stick Unfortunately you are not able to replay older videos directly with your remote controllers at this time In future software releases the video will be stored directly on memory stick whenever memory stick is detected Endnote Team Catch 21 hope you will enjoy the Video Coacher system and wishes you great success in your future training VIDEO COACHER 22 Catch 21 22 05 2014 Project Document
70. ation Version 3 0 K Service and Development Manual VIDEO COACHER 227 Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Service and Development Manual Version 1 0 Version Date Changes in document Responsible 1 0 21 05 14 Created document Eyvind amp Christian Formatting Jacob amp Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER f2 Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents LIST OP a EE E E A EE 246 t let Oe EE 247 2 Installation and Maintenance 248 2 1 Environmental Requirements 22ssssssunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 248 2 2 CADINGL 24 220000 2 000er are RE E E E E A 248 2 3 Camera NEE 251 Se e ne RE 254 Klee ei 255 2 6 Spare Parkas 256 2 7 Software Setup 257 List of Figures Figure 1218010487 Connector een 249 Figure 2 The End Mounts on the rail een 251 Figure 3 Camera Platform without camera bousimg 252 Figure 4 Timing pulley re 253 VIDEO COACHER PG Catch 21 22 05 2014 Project Documentation Version 3 0 1 Introduction The Service and Development manual covers topics meant for an advanced user who wants to service or even develop the Video Coacher system further All software parts list circ
71. atter The Video Coacher The Video Coacher is in essence a video tracking feedback tool that does not require interaction It offers simple available precise and fast feedback The only thing you need to do when using the Video Coacher is take a look at what you want to see Imagine if whenever you wanted discover the problem with a juggling pattern or with your technique you could just look up at the wall and it would show you on a projector screen the juggling pattern you just tried 5 seconds ago The Video Coacher offers exactly that you don t need to press any buttons you don t need to stop start rewind or anything else The only thing you do is look up at the large projector screen and it continually shows you what happened a short period back in time The Video Coacher is meant to be continually available throughout your practice session and you only look at the projector screen when you want feedback the rest of the time you continue your practice undisturbed with the Video Coacher being out of the way but always ready Simply look to see The Video Coacher offers you more specific control as well via minimum interaction but the main feature is that you don t have to do any interaction to use it The Video Coacher is always available but never in your way and it never requires more from you than looking at it to get your feedback User Scenarios Peter is an artistic club juggler he blends movement with complex and expressive
72. ause Forwards Backwards o Avery useful feature especially for the lecture part of Low Repetition Mode Unfortunately not considered as important as other features we have yet to finish Implementing this PBI would make it even easier for a user to explain and teach siteswaps VIDEO COACHER Ja Catch 21 22 05 2014 Project Documentation Version 3 0 e 68 User Study o A user study is considered helpful but it was felt that we would gain less from it before certain features are implemented This is because the Video Coacher is a system that should be tested with a minimum of functions implemented Users would then be able to give more realistic feedback e 103 Battery Solution to Odroid o Again not considered essential for the functions we are implementing Mainly this would be to help mark video files with correct date and time e 32 Camera Zoom o Because we have a web camera with digital zoom it would be more of a study of the function in preparation for the Video Coacher Pro Zooming was not considered highly important for the system e 16 Multiple Angles o Multiple angels is a feature that could be very important in a pro version In the prototype we are developing it seems not to be essential The budget would have to be changed to afford implementing this PBI e 102 Change Camera and Video Feedback Angle o Changing camera angle is considered an essential function but looking at the time available we had to choose betw
73. be a game changer in the market we decided not to spend time on an app in this project http goo gl IO3ItH Main Wristband Components microcontroller and wireless unit control buttons and power switch battery with charger circuit with circuit schematics casing with wrist strap VIDEO COACHER Bide Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 1 Microcontroller and wireless unit e We considered to use a microcontroller designed for wearable and a separate wireless unit to transmit the control signals Instead we went for a small HID Human Interface Device module with a Bluetooth transmitter built in Bluefruit EZ Key 12 Input Bluetooth HID Keyboard Controller v1 2 Link http q00 gl vdF Xax Figure 68 Bluefruit EZ key ag bluefruit Sm 000000000000 O O oO oO O O12 ow ai O O O oO 000000 Figure 69 Size Comparison VIDEO COACHER felt Catch 21 22 05 2014 Project Documentation Version 3 0 Description This is a Bluetooth unit that lets you make a controller in a very short time Just add buttons and power It works like a Bluetooth keyboard and can be used with Linux To communicate with the Central Unit the Odroid needs a Bluetooth adapter version 2 1 orabove Datasheet of the Bluefruit EZ o Link http goo gl uRC1pl Positives This seems to be the ideal product for a wristband it is small light 4 49 easy to set up and made to be used
74. by feet e Hard to replace LED Technical Details e 16mm diameter e 4 6 grams Summary We chose this button so the toggle mode switch would be easy to differentiate from the other function buttons VIDEO COACHER fel Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 3 Casing Description We designed the casing in Solidworks and 3D printed it at the HBV college e Our own design e We could use the college s 3D printer e Can be designed and printed out in less than 24 figure 62 3D Printed Casing hours e Relatively low cost Negatives e Limited choice of material e Rough finish e Size limitation makes it necessary to make more parts and glue them together Summary Good way to make nice casing Possible to redesign and make new version over night Make a sturdy and solid touch to the foot controller We are going to replace the bottom plate with a transparent acrylic plate which allows the internal electronics to be visible Alternatives The casing can be made in different materials using different techniques To make a functional prototype of this kind 3D printing is a very good option Main Component 4 LEDS e All buttons have LEDS The arcade buttons have custom built in LEDs This allows us to give feedback to the user Led diode 5 mm ultra white 3 5 V 30 mA 7000 mcd Figure 63 Arcade Button with custom LED VIDEO COACHER elt Catch 21 22 05 2014
75. ces gives an overview of the systems processing devices What they are used for and how they communicate Serial communication over usb Serial communication over usb Communication over bluetooth Figure 7 Processing Devices VIDEO COACHER PE Catch 21 22 05 2014 Project Documentation Version 3 0 1 2 Central Unit The central unit is our main program which handles input and controls the rig based on selected mode and user input It is connected to the other parts by serial communication over USB and Bluetooth The hardware is an Arm Cortex based computer called Odroid X 23 1 3 Control Unit The control unit controls the actuators mounted on the camera rig stepper motor and servos for pan and tilt In addition to the actuators the Control Unit has access to end switches mounted at both sides of the rig They are used for the calibration routine and also as a safety measure It has the ability to move the camera sideways at a speed range from 0 to 0 628 m s pan up to 45 to both sides and tilt 25 up and down Consists of custom software an Arduino nano microcontroller with some custom electronics Communicates with the central unit over a USB connection 1 4 Foot Controller The foot controller is the main unit for user input It enables the user to choose operating modes and adjust settings like slow motion start recording etc by pushing the buttons on the foot controller It has a 7 segment display and 6 b
76. ck if buttons is responding properly Check readability of display Make note of stability of box Results Enough space ok w comments Buttons respond don t get stuck ok Little bit too small fail will make room for larger display Stable box but slides away from the user fail will add anti slide pads Tested By Eyvind ystein Test Report 20 Use of Foot Controller VIDEO COACHER 4 Catch 21 22 05 2014 Project Documentation Version 3 0 C Project Plan VIDEO COACHER fre Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Project Plan Version 3 0 Version Date Changes in document Responsible 1 0 05 02 14 Created document Brian amp Jacob 20 01 04 14 Updated the document for second Briana Jacob delivery 3 0 20 05 14 Revised and updated for final Brian amp Jacob delivery Formatting Jacob Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER FE Catch 21 22 05 2014 Project Documentation Version 3 0 This is a project plan written for the Catch 21 Project Catch 21 is our project name The product we are to develop for our client Tanke og Teknikk is called The Video Coacher Our goal for this system is that it will make self review of juggling via video swift and effortless We aim to sati
77. connecting to the camera capturing images from it and passing captured images to the class containing the buffer In addition to its constructor Cameralnput has the following functions void capturelmage and the following attributes cv VideoCapture capture cv Mat frame where capture captures the stream and frame holds the individual frames VIDEO COACHER ci Catch 21 22 05 2014 Project Documentation Version 3 0 Cameralnput functions descriptions Constructor When the constructor of this class is being run it will connect to the camera and set the default window size If no camera can be found it will display an error message void capturelmage capturelmage is called whenever it is time to capture a new frame from the camera It will then attempt to capture a frame from the camera and if successful it will emit a signal containing the captured frame Control Control is one of the largest classes and its purpose is to control the flow of the video stream and image processing In addition to its constructor Control has the following functions void inputlmage cv Mat imgln void increaseDelay void decreaseDelay void setDelay int timeshift void processerReady void startRecording bool showWindow void stopRecording and the following attributes cv Vector lt cv Mat gt imageBuffer create buffer to hold images int counter int delay bool processReady bool recordin
78. csdansseassaaseaausanaysagsssansyassaanaasansoncteaeaessassesaassasseaansssnsamssamasse acer 202 Burndown Chart 8 SP EE 203 Burndown Chart STL av 204 Sprint overview Sprint Overview TS Laser ads 205 Sprint Overview 2 Sprint innen nee 206 Sprint Overview 3 Sprint 2 0 een en ee 207 Sprint Overview 4 Sprint Egeter euer ehem 208 Sprint Overview 5 Sprint EE 209 Sprint Overview 6 SIE 210 Sprint Overview TS 211 Sprint Overview SSI 2 2 en 212 Sprint OVERVIEW Gi Sprint E 213 VIDEO COACHER RE Catch 21 22 05 2014 Project Documentation Version 3 0 1 Scrumwise Burndown Overview Sprint 9 Fri Mon Tue Wed Thu Fri Mon Tue Wed Thu Fri 9 5 12 5 13 5 14 5 15 5 18 5 19 5 20 5 21 5 22 5 23 5 Burndown Chart 1 Sprint 9 VIDEO COACHER Je Catch 21 22 05 2014 Project Documentation Version 3 0 240 Sprint 8 ri n ue ri 215 5 5 6 5 H 8 5 am Burndown Chart 2 Sprint 8 VIDEO COACHER RW Catch 21 22 05 2014 Project Documentation Version 3 0 350 Sprint 7 Tue Wed Thu Fri Mon Tue Wed Thu Fri 22 4 2314 2414 25 4 28 4 29 4 30 4 115 2 5 Burndown Chart 3 Sprint 7 VIDEO COACHER Tafel Catch 21 22 05 2014 Project Documentation Version 3 0 125 Sprint 6 Tue Wed Thu Fri Mon Tue Wed Thu Fri Mon Tue 8 4 94 10 4 WEI 14 4 15 4 18 4 17 4 18 4 21 4 22 4 Burndown Chart 4 Sprint 6 VIDEO COACHER Tafel Catch 21 22 05 2014 Project Documentation Version 3 0 210 Sprint 5 200
79. ct than the one we were tasked to build Schedule Risks Our project is limited in time therefore not reaching the main deadlines is a real risk Discontinued or sold out hardware or software causing delays and thereby deadlines being overrun Risk of not ordering parts soon enough parts being out of stock or ordering the wrong paris Incorrect estimation of the project advancement causing all requirements to be finished early or causing us not to finish all requirements Changes in group members projected availability VIDEO COACHER Fl Catch 21 22 05 2014 Project Documentation Version 3 0 Resource Risks Risk of overrunning the budget Risk of the client going broke during the project Sickness in the team causing us not to be able to work efficiently on certain aspect of the product and losing essential skills and experience Risk of advisors internal or external becoming sick or unavailable for other reasons Risk of documentation text being of a lower quality because documentation language is English Overall Risk Avoidance amp Mitigation Pointers for the Catch 21 Project To avoid and mitigate Sickness Eating healthy and getting enough sleep as well as some light exercise is recommended for all group members to avoid illness If sickness or injury should occur anyways inform the group leader and seek professional medical assistance Scope creep Keep the client informed on what we are working on thr
80. cy of the motors And if the camera is large of size it might not fit on top of the dedicated platform Price given the budget we have we figured the camera would have to cost less than 2000 NOK 10 The camera should work OK under poor light conditions VIDEO COACHER PRE Catch 21 22 05 2014 Project Documentation Version 3 0 Comparison Require GoPro HD GoPro Logitech Logitech Microsoft Contour D Link ments Hero3 Black HD C920 C930e Kinect Roam 2 DCS edition Hero3 52225 Wihite tin IP edition Camera 44 No reliable sources said reliable sources said 1080p 1080p 1080p 1080p 480p 1080p 720p 5 Too wide Too OK OK OK with Too wide OK wide external lense BEE EI EI EI EZ 43 http gopro com cameras hd hero3 black edition technical specs 44 http gopro com cameras hd hero3 white edition technical specs 45 http logitech en amr custhelp com app answers detail a_id 28927 46 http logitech en amr custhelp com app answers detail a id 39606 section troubleshoot crid 405 It product id 10715 tabs 1 3 2 4 5 cl us en 47 http en wikipedia org wiki Kinect ge http contour com collections cameras products contourroam2 49 http www dlink com uk en home solutions view network cameras dcs 5222l pan tilt zoom cloud camera VIDEO COACHER EGP Catch 21 22 05 2014 Project Documentation Excellent Excelle nt Too OK expensive Very Good OK Ve
81. d Programmable controllable Customizable o able to add features such as automated pan tilt capabilities e Reasonably priced o less than NOK 2000 The slider we need has e Rapid acceleration o faster than a common time lapse slider o able to keep up with the unpredictable motions of a human VIDEO COACHER feit Catch 21 22 05 2014 Project Documentation Version 3 0 Contenders IGUS DryLin ZLW 1040 S Belt driven linear glider solution from an advanced manufacturer Confusing store Veravon Motorroid Motorized Kit for Veravon Sliders Typical photography timelapse oriented slider solutions Expensive Length max 2m 8 8 belt turn wheel custom motor may possibly be added manual default mill belt motor manual 415 for belt actuator alone RAM Revolve Automated Motion Basic Kit A flexible solution with a dolly wagon Must add motor to dolly ourselves no specific limit wheel push add custom motor may be possible manual default unknown but enough depends on configuration and choice of motor MakerSlide Europe Custom Build Linear Motion Systems Belt driven slider solutions Many configurations max 2m belt motor programmable unknown but enough depends on configuration and choice of motor off the shelf prices depends OpenBuilds Custom Build Linear Motion Systems Belt driven sl
82. d e The OpenBuilds Linear Actuator is the basis for our Camera Rig Our version is based on the 1500 mm v slot rail This rig can be expanded in length and you can also add more dimensions of movement with adding more rails Parts needed and assembly instructions are provided on OpenBuilds website o Link http q00 gl UYQIYj e Our customization to the rig so far o Noise reduction m using rubber covered screws for the stepper motor mount nylon screws could be an option m made custom gasket between the stepper motor mount and the rig m further options to reduce noise e Link http goo gl t1suhB o Centering the belt m adding O rings to the pulleys to keep belt from moving sideways o Give the rigs adjustable legs and make it portable m adding tripods as feet mount the rig to the rig with standard tripod screws o Tilt amp Pan Servo m made a custom Camera Mount with pan and tilt servos o Camera position calibration m added end stop switches VIDEO COACHER 2s Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 2 Camera Mount with pan and tilt e We designed a casing for the Camera Mount in SolidWorks and 3D printed it at the HBV college The 3D drawing will be made available at our website videocoacher com The goal was to make a mount which was o More stable o Less subjected to vibration wobbling o Looks better Figure 53 3D printed casing with the pan servo Figure 54 The mount for the came
83. d such risks The document mentions the main challenges and solutions throughout the different sprint periods This document is found in annex D 5 Construction Document The construction document offers a description of the whole system as a general overview but also as a more detailed design view It uses various diagrams and explains the most important pieces of code It covers the requirements demande and explains why some of these were not met This document is found in annex E 6 Standards for Document and Code The Standards document lays the guidelines on how to write documents and code during the project So as to get a more defined and coherent documentation even though it originates from several group members Integration of the data becomes more efficient as well This document is found in annex F 7 Distribution of Assignment and Responsibilities This document covers the different roles we have assigned to the project group members It explains the tasks and responsibilities belonging to the different roles The document was created so that it would be clear to the group members what was expected of the responsibilities they took on This document is found in annex G VIDEO COACHER Ps Catch 21 22 05 2014 Project Documentation Version 3 0 8 Scrumwise Sprints and Burndown Charts Overview The Sprints and Burndown Charts Overview is a collection of burndown charts and product backlog items for each
84. document Responsible 1 0 21 05 14 Created amp updated Brian amp Eyvind Formatting Jacob Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER fs Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents 1 Responsibilities of Everyone amp Weekly Referent rrrrrrnrrrnnnnvnrrrrrrrnnnnnnnnvrvvnvrrrnrrrnnnnnnvnnerrsrrnnnnnnn 185 1 1 Memo Days Assignments rrnnrrnnnnnnnnnnnnnnrnnnrernrnnnnnnernnnnnnnrnnsrnnnnnneneennnnnnnnenennnnnrnnnnnneeseneennssnnn 185 1 2 Weekly Referent E 186 KEE Le nl Hl EE 188 21 Brann EE A AAA 188 221800 sahne ox toe oe seve sees eee vests ies een RAE ee erinnere 189 EEE 190 KEE El DEE 190 SE EE 191 PI NE EE E A E E nennen en E ehe 191 VIDEO COACHER fev Catch 21 22 05 2014 Project Documentation Version 3 0 1 Responsibilities of Everyone amp Weekly Referent Everyone in the group has his specific responsibilities In addition to this there is a person who is Weekly Referent This person has the responsibilities described under subchapter 1 2 in this document 1 1 Memo Days Assignments e Each group member should write a short memo for their assigned day i e a very short summary from the daily Scrum This is posted to the forum Keep it short and simple Who did what and plan to do what for next meeting and include impediments o Da
85. dule can be criteria disassembled relatively quick and fit into any normally sized car Comments This PBI is one of the last prioritized ones of those to be included in the final build so we haven t worked on it yet but still intend to include it Table 10 ID 18 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 ID 13 As a user Story Points 8 Slow Motion I want to be able to watch myself in slow motion So I can better see the small details when practicing Acceptance You can tag a setting to stream in criteria slow motion Using slow motion does not make displayed video and recorded video go out of synch Comments Table 11 ID 13 ID 15 As a user Story Points 8 Metronome I want to get some help keeping the beat rhythm So I can tighten up my practice routines Acceptance You can choose to have a criteria metronome where you specify its BPM Comments If ametronome is integrated it could be useful to include several extra beats as well such as off beats triplets etc Table 12 ID 15 VIDEO COACHER 2 Catch 21 22 05 2014 Version 3 0 Project Documentation IDH 14 Pause forward rewind As a user Story Points 12 want to be able to navigate through the video stream So I can watch exactly what I want whenever I want Acceptance criteria You can pause rewind and forward the stream C
86. e before testing with the rig V1 Measured V and A when running motor at different speeds This worked Pwm did produce an unacceptable levels of audio noise and so the test fails By increasing the pwm frequency to 20kHz or more we should be able to move this noise out of the audible range V2 Unsuccessful Motor control became unstable wouldn t step predictably VIDEO COACHER 7 Catch 21 22 05 2014 Project Documentation Version 3 0 V3 Everything worked as we hoped We are able to prevent the current saturation with PWM regulation of the supply voltage PWM induced noise is gone Tested By Even H rtvedt ystein rsnes Date V1 6 3 2014 V2 22 4 2014 V3 25 4 2014 V1 2 Failed V3 Passed Test Report 15 Current Management V1 3 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Test Adafruit Motor Shield Name Test ID Story ID PBl Task Test Level Test Type Description Changes Acceptance Criteria Approach Results w comments Tested By Date Result 30 77 291 Testing the Adafruit motor shield to see if it works and if we are able to use it in our project This board has better documentation that our current driver must be able to drive stepper motor Test first with leds then with stepper motor Using lab PSU to limit current and voltage Did not work Both L293DNE s have cracks we believe that they are damaged Ev
87. e in the future we still have quite a few PBI s to choose from Our customer desired a juggling beat histogram PBI 38 which would be a good and complex feature to add furthermore we haven t properly implemented a slow motion option you can toggle during practice which should be fairly straight forward to implement We ve also talked about having an application for our system which would let the user to directly save upload sessions to Dropbox Youtube Facebook etc We intend to expand the Serial Communication class to handle both Arduinos including checking which is the Control Unit and which is the Foot Controller to ensure that the correct data are sent to the correct Arduino This will remove possible errors from mixing up the addresses as these changes based on which Arduino that is connected first 22 More information on the Odroid see Tech Document Collection found in the annex VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 7 3 Pro version The next logical step in development will be to create the pro version The camera rig will be wall mounted with increased length to cover a larger area We recommend changing from belt driven to screw driven camera module to reduce noise and possible skipped steps from belt slapping The system will benefit from a faster motor 7 4 Required Libraries This lists all external libraries used by the software we ve implemented and describes why we are using them
88. e recording 22h Sprint completed GB Sprint 2 Miscellaneous Work DOC 92n Sprint completed Sprint Overview 8 Sprint 2 VIDEO COACHER Fr Catch 21 22 05 2014 Project Documentation Version 3 0 Sprint 1 Completed Team Catch 251 1 hours completed ystein 28h Eyvind 35h Be Jacob 40h ean 61h Even 53 1h GR Documents DOC 177h Sprint completed ER Make Risk Plan Outline DOC 2n Sprint completed ER Create deadline calender DOC h Sprint completed ER Presentation 1 DOC 24 28n Sprint completed EB Control camera sw 28 1h Sprint completed CD Live stream gt 5h Sprint completed Sprint Overview 9 Sprint 1 VIDEO COACHER root Catch 21 22 05 2014 Project Documentation Version 3 0 3 Sources 1 www scrumwise com 21 05 14 VIDEO COACHER 27 Catch 21 22 05 2014 Project Documentation Version 3 0 Sales Information Document VIDEO COACHER MR Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Sales Information Document Version 1 0 Version Date Changes in document Responsible 1 0 21 05 14 Created document Brian Formatting Jacob Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER 40 Catch 21 22 05 2014 Project Documentation Version 3 0 Document Purpose This document has the purpose of explaining why usin
89. e taken after consulting the other group members Everyone was almost always available for answering questions or engaging in discussions on different matters regarding the project Internal Advisor In regards to our internal advisor we are extremely pleased He has always been available for questions even outside office hours The advice and help we have been given have been thoughtful considerate and thorough He has been very quick to answer questions both via email forum and meetings He has also been clear in stating that advice is only advice and that we as a group should make use only of the advice we consider helpful It has been great for our project members to be able to run our own group but at the same time have support and advice available when needed Any groups that are assigned our advisor for their future bachelor project should be confident that they have a friendly knowledgeable and invested advisor that wants to help you succeed both in reaching your learning goals and in having an excellent and successful project experience 55 See project documentation annex for Standards for Document and Code 36 See project documentation annex for Distribution of Assignment and Responsibilities VIDEO COACHER ee Catch 21 22 05 2014 Project Documentation Version 3 0 External Advisor In regards to our external advisor and our project via Tanke og Teknikk we have had a really great project assignment Tanke og T
90. e to control currents through other means it became apparent that this configuration was not powerful enough to run the belt drive at the desired speed so we changed to FSTP VIDEO COACHER 237 Catch 21 22 05 2014 Project Documentation Version 3 0 FSTP Full Step Two Phase configuration is very similar to FSOP in that it sticks to full stepping and requires thus similarly a repeating sequence of just four signals to operate as well The only difference is that it engages both coils at the same time meaning that it is twice as powerful The control signal for FSTP is shown in Table 2 Figure 50 Table 2 Half Step Another mode that was considered but discarded was half step mode It is also fairly simple but requires a repeating sequence of 8 distinct signals It alternates between engaging both coils and just one coil and it is approximately 80 less powerful than FSTP mode with regards to torque This can be mitigated by allowing greater current flows at steps where only one coil is engaged As the name suggests half stepping lets the motor step exactly half the specified step angle effectively increasing the motor s step resolution by a factor of two This increases motor precision and smoothness but at the expense of halving the motor s top speed This is due to the fact that it requires twice as many pulses of set duration to complete one revolution and there is always a limit to how fast a micro controller can issue st
91. eated in Eagle CAD 1 Actuators Control Circuit 2 Foot Controller Circuit 3 Wristband Circuit Source files are available at Videocoacher com and at the Catch21 Github folder Link to Github http goo gl IOQtuZ VIDEO COACHER fer Catch 21 22 05 2014 Project Documentation SB to Odroid ver S ENABLE A SEN ENABLE B SEN B npurt oum INPUT2 OUT 2 INPUT INPUT4 SI GND Driver Board Version 3 0 Piodes D1 to D8 are 24 fast type Schottky preferred VF 1 2V 24 trr lt 200ns is suggested Figure 74 Actuators Schematic Motor and End Switches Catch 21 TITLE Actuators Control Circuit Document Number REV Date 19 05 2814 16 01 46 Sheet 1 1 VIDEO COACHER fer Catch 21 22 05 2014 Project Documentation Version 3 0 Figure 75 Foot Controller Schematic NANO ARDUINO Cater 21 TITLE Foot Controller Document Number REV Date 17 85 2814 13 04 45 Sheet 1 1 VIDEO COACHER Fer Catch 21 22 05 2014 Project Documentation Version 3 0 P P4 Catch AL TITLE Wristband Document Number Date 15 05 2014 19 23 05 Sheet 1 1 Figure 76 Wristband Schematic VIDEO COACHER ea Catch 21 22 05 2014
92. ecause the college had certain document requirements that did not quite fit into the Scrum framework Several discussions in the group and a generally frustrating time made us unsure if Scrum was really a good choice for our project After sharing our concerns with our internal advisor he helped us arrive at a solution that seemed ideal He helped us realize that we had tried to modify Scrum to fit the college requirements without having a clear idea of how exactly we had modified or were trying to modify Scrum Our issue was mainly that Scrum is rather light on documentation compared to college requirements This was solved by making sprints that focused on producing documentation For the product work we had product sprints After this was implemented Scrum started feeling really useful and powerful to the group again Especially since we were developing a prototype product which often have requirements that alter along the project period So a good reactive framework like Scrum was close to perfect and well worth the time we spent getting to know it As a group we would definitely recommend it to others just keep in mind that we had to modify it to compensate for the college s requirements with regards to documentation deliverables 53 See project documentation annex Project Plan for more information VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 3 2 Project Work Along the project period the pri
93. ect source code is found at https github com MrGobblez Catch21 tree master Catch21 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 3 1 Central Unit UML Class Diagram Figure 10 UML Class Diagram of Central Unit VIDEO COACHER M Catch 21 22 05 2014 Project Documentation Version 3 0 Class Descriptions main The main class function creates an object of all the other classes listed below prior to the Arduino section It then creates four threads where it moves Camera to thread1 Process to thread2 Tracking and Serial Communication to thread3 and Control to thread4 The rest of the classes will be running in the main thread Once this is done all the classes are connected to each other using QObject connect here s an example QObject connect Cameralnput SIGNAL capturedlmage cv Mat Control SLOT inputlmage cv Mat Basically as we re using the Qt framework we use public slots instead of normal functions in C We also use Signals which are emitted in public slots in order to call functions in other threads Here s how the provided connect example works whenever the capturedlmage cv Mat is emitted from the Cameralnput the inputlmage cv Mat in Control will run After all connections are made the threads start and the program starts rolling Further information about the Qt library is available from http at project org Cameralnput Cameralnput is responsible for
94. ectures on mathematics technology art and how these subject relate and can benefit each other His lectures are well received but he thinks that he could demonstrate the relationships between siteswaps and mathematics even clearer and he wants to make non jugglers understand exactly what goes during demonstrations of his siteswaps By using the Video Coacher in his lectures he is able to slow down freeze move forwards and backwards through the siteswaps that he has just performed The response from audiences has been very strong and he is now considering lecturing full time VIDEO COACHER 226 Catch 21 22 05 2014 Project Documentation Version 3 0 What Benefits does the Video Coacher offer First and foremost it is non interruptive in use it lets you focus on your training there is nothing you need to control or interact with Although you have the option to do so if you wish to It makes it easy to increase the efficiency during practice it offers close to instant feedback both in normal and in slow motion speed for when you need to see the details of what is going on Fast and continuous feedback is an essential ingredient when it comes to correcting errors and making your practice yield results Self review with the video coacher is unlimited you can easily do many attempts and review them with minimum disruption to practice You will find that the speed at which you are capable of learning new patterns increases significan
95. ed default is enabled File handler The frames are stored to file for playback These tasks are executed in parallel while a new frame is requested from the camera The cycle continues until the user presses stop recording then the recorded video is played When the video is finished the system returns to wait for user input in the menu VIDEO COACHER PR Catch 21 22 05 2014 Project Documentation Version 3 0 High repetition When high repetition mode starts the chosen settings are applied and frames are requested from the camera The frames are stored in the frame buffer and delivered to the threads that are running according to settings Possible receivers are e Color recognition If the tracking system is not disabled default is enabled e Window handler The window handler is receiving the frames at the set delay These tasks are executed in parallel while a new frame is requested from the camera The high repetition will continue until the user switches to low repetition mode IF High Repetition star High Repetition Software starts and opens the selection menu User input Analyze input Returns to wait state set ready for new frame IF tracking Requests new frame from camera Check settings Request new frame from camera IF tracking Requests new frame from camera vane Store in buffer Request new frame from camera IF show live stream Low
96. ed Text Example Table layout width and height e Height 0 9 cm and Width 100 Ex Name Information Figure 25 Formatted Table Example VIDEO COACHER 77 Catch 21 22 05 2014 Project Documentation Version 3 0 Color Values Color model RGB Red 1237 E Green 125 HI Blue a9 H Current Figure 26 Orange Color Value RGB Footnote references Referring should be done by using footnote if necessary document wide references can be added at the end of the document with last visited date attached Ex Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action Contacting the Document Responsible is the advisable course of action This is a footnote Ae Figure 27 Formatted Footnote Reference VIDEO COACHER Far Catch 21 22 05 2014 Project Documentation Version 3 0 2 2 Unformatted standard Deliveries made to the Document Responsible will be as much as possible unformatted so as to ease the transmission of information to the MS Word format The unformatted version is to the Document Responsible guidelines on how the writer would want the document to look like Front page Example document Document name Version xx es Ce Tee See Figure 28 Unformatted Front page VIDEO COACHER f 173
97. een this and other important functions The angle change was requested so that it would be easier to cover high low siteswap patterns The function of a standing angle can be achieved by the user moving further away from the camera therefore this PBI was not prioritized e 36 Create Reference Database o Avery low importance requirement We have not missed having a central database for references at our level of documentation It is likely that this would be more important in a larger project VIDEO COACHER Fl Catch 21 22 05 2014 Project Documentation Version 3 0 7 Future development 7 1 Hardware We recommend changing the hardware in the Central Unit to an Odroid XU to increase overall performance of the system as described in the Odroid technical document This will enable the system to work at higher resolutions and increase image quality 7 2 Software Our current plans for software changes onwards are finishing the motor position calibration routine interface the foot pedal with software so that one will be able to fully control the system with the foot pedal and start implementing a PID controller that will replace the old P controller currently used to track the user These are all things we expect to finish before the presentation the PID controller is the one thing we are a bit uncertain on if we ll manage to implement in time If we look even further and look at what would could and should be done with the softwar
98. eennaeeeeeeeeseeeenaeeeeecessesennsaeeeeeeessssennaeeeeess 318 9 Circuit Schematic created in Eagle CAD 323 VIDEO COACHER ron Catch 21 22 05 2014 Project Documentation Version 3 0 1 Motor Tech Document Figure 45 NEMA 17 Bipolar Stepper Motor VIDEO COACHER 23 Catch 21 22 05 2014 Project Documentation Version 3 0 Introduction This document intends to present the stepper motor we are using explain why we use it what a stepper motor is and finally how we operate it It is limited to describing bipolar stepper motors as it is the type of motor we are using It also features just a brief overview of the three most basic control configurations for which to operate it namely full step one phase FSOP mode full step two phase FSTP mode and half step mode as those are the only ones we have considered relevant The Motor A NEMA 17 bipolar stepper motor is the main work horse for our project It runs the belt drive that moves a camera along a linear path as it tracks a user We are supplying it with an 18 5V 4 9A repurposed laptop PSU making sure that the currents do not overflow the rated 1 68A per winding 32 NEMA 17 is a industry size standard 42x42 mm VIDEO COACHER ey Catch 21 22 05 2014 Project Documentation Version 3 0 Specifications e 42 3MAX 3120 1 Deepth 4 5MIN in MNK E 42 3MAX UL1007 AWG267 Diagram Loser Mork GRE Connector
99. eknikk tends to do exciting and challenging projects and the project we have been working on has been both very exciting and really challenging It seems that our project group is not the only one who thinks so We have actually just heard back from one of the master juggling trainers at the National Institute of Circus Arts in Melbourne Australia regarding our project He said he believes it is a really good idea from a visual perspective for self correction As a client Tanke og Teknikk has offered us both plenty of advice and challenges Often pointing us in the right direction when we have been stuck on a particular issue or even taking time to provide their expert assistance on specific technical challenges Our advisor from Tanke og Teknikk has been very available and flexible it has been easy to arrange meetings and otherwise ask and receive advice Throughout the project Tanke og Teknikk has shown that it has been important to them that the project was challenging to us as students by increasing the difficulty and adding requirements throughout the project The advisor has also given us ample opportunity with challenges that were more achievable always wanting us to stretch further and improve In all of this our advisor has reminded us several times that a project is also about enjoying the work We ve had a very good experience working with our external advisor and would recommend any prospective bachelor group that wants a challenging a
100. ely went for In the end we landed upon Open Build s gt LAS solution a highly modular LAS dimensioned around a NEMA 173 sized stepper motor The most obvious strength of stepper motors are the ease at which their angular displacement is accounted for Since they move in incremental steps of known lengths as opposed to the continuous rotation of DC motors you do not rely on continuous feedback from external sensors to know how far exactly they have rotated you only need to count steps However you do need to reset the step counter at a known location once every startup This can easily be done by placing a single switch at a known location on the pathway which will then reset the counter upon contact Although only one switch is required we will place two switches on the pathway one at each end This is just a precautionary safety measure in case we at some point experience cumulative miss stepping that would result in not knowing the true angular position of the motor 33 A motorized belt or screw drive that moves a payload along a linear path 34 i openbuildspartstore 35 An industry size standard for stepper motors VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 The discrete nature of the stepper motors have made them the motor of choice for any CNC operation such as 3D printing or carving of all sorts of computer aided designs which also relies on LAS to function We however have come to realize
101. en H rtvedt ystein Arsnes 11 4 2014 Test Report 16 Test Adafruit Motor Shield VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Increased Max Speed Test ID 32 314 Description We wanted to increase max rpm from 300 to at least 450 We intend to do this by modifying the timer 2 pre scaler to allow for timed delays shorter than 1 ms Be able to reliably reach the speed of at least 450 rpm Griteria Approach Increased the resolution to 0 ims by decreasing prescale to 32 and start the counter at 230 Code TCCR2 1 lt lt CS21 1 lt lt CS20 TCCR2 amp 1 lt lt CS22 tent2 230 This gives us the possibility to run at these rpm s from 300 and up If something in between these values are given the faster one is chosen Results GREAT Success Reached 450 rpm with the current power configuration w comments Reached 600 rpm by giving motor more power Going back to using both coils in the stepper motor did provide the torque we needed to run at 461 54 and up It struggles a bit when trying to start from a standstill 600rpm so some form of acceleration deceleration is needed The plan is to accelerate with pid controller 600 rpms equals 0 628 m s Tested By Even ystein Test Report 17 Increased Max Speed VIDEO COACHER 7 amp Catch 21 22 05 2014 Project Documentation Version 3 0 Test ID ee Description We want to replace lab PSU with a normal laptop
102. entation Version 3 0 Microcontrollers designed for wearables e There are on the market many microcontrollers designed for wearable projects A good choice is the Arduino Fio which can hold a wireless modem A list of them can be found on Microcontrollers for wearable projects e Using a microcontroller instead or together with the Bluefruit would Figure 70 The Arduino Fio give us more functions which we could implement in the prototype You could then add all sorts of wireless technologies display and other functions e We excluded a microcontroller form the Wristband Controller due to time and cost and for keeping the Wristband Controller as simple as possible Ku o OO gt CHG Wireless transmitting e For making the wearable wireless you need to add a wireless technology A microcontroller such as the Arduino Fio has an XBee slot which allows you to add XBee modems which support different transmitting technologies o Link http goo gl degisE e Bluetooth o The Bluefruit has built in Bluetooth technology Once paired with the Central Unit this will allow a operating range of 10 meter The Bluetooth standard is evolving and newest standards allow longer range and much lower battery consumption than the older one Most wearables on the market use Bluetooth transmitting o Most remotes uses infrared transmitting of signals It is a stable way of sending control signals but short range and the need of pointing the
103. entation Version 3 0 Serial Communication This class is responsible for transferring data between the Odroid and the Arduino The code is based on the following code https github com cheydrick Canonical Arduino Read blob master canonicalarduinoread c Parts of it are rewritten from a sequential C code to object oriented C to improve usability It opens the serial port in a non blocking way In addition to its constructor Menu has the following functions void sendData int direction int speed void initialize char portID and the following attributes int fd int oldDirection int oldSpeed char buf 10 struct termios toptions The file descriptor two ints to keep track of the latest data sent a buffer to store the data while sending and a struct for serial connection settings Serial Communication functions descriptions Constructor Calls initialize char portID with the inputted portID void sendData int direction int speed Sends the two input INTs to the motor controller The input combined into one string with a leading 0 if direction lt 0 and terminated with a The method contains a check to determine if the input is equal to the previous sent data If they are equal the data will not be sent This reduces traffic on the serial connection and load on both the Odroid and the Arduino VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 void initiali
104. ep commands To learn more about configurations visit this page to experience an interactive visualization of different control modes 37 http en nanotec com main en swf VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 Code To run a control sequence you need a microcontroller and a code to run it It is outside the scope of this document to give a full tutorial of how to set it up or to explain the code we are using but it will provide an idea of where to start The quickest way to start is to look for a stepper library online as there are many If you like us use an Arduino then the Arduino development environment comes with a stepper library already included It is a fairly simple and restrictive but you are free to modify or expand it To learn more about the Arduino stepper library you can visit arduino cc gt stepper3 38 http arduino cc en reference stepper VIDEO COACHER oz Catch 21 22 05 2014 Project Documentation Version 3 0 Driver Figure 51 L298 Dual H Bridge Motor Driver While the control signals are administered by an Arduino microcontroller it can not feed the motor directly The high voltage and drive currents that the motor requires would damage the microcontroller outputs We need an intermediary stage that can handle this amount of power For this purpose we use the L298 dual H bridge motor driver which is attached to a generic but undocumented PCB I
105. equirement specifications Officially we haven t held an acceptance test yet but we have been in close dialog with the client throughout and invited him over for demonstrations upon which he have given us valuable feedback VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 2 2 Static and Dynamic Testing Static tests are done without actually activating any parts or software and it have as such been hard to make a formal strategy for how and when to conduct them They were intended to expose mistakes and discrepancies of our designs early on and the most frequent approach to avoid this has been sharing work and peer reviewing Static tests have let us verify that what we have built does not diverge from the product requirements as well as validating that the requirements themselves are in fact correct Dynamic testing is when we run functioning parts or units of software that have been assembled at any level to see how it behaves Errors have been reported in our test results and work logs Dynamic testing have taken up an increasing portion of the allocated time for testing every sprint as the project have continued to expand in complexity 2 3 The Box Approaches There are basically two points of view when considering test cases one being looking at the system from the outside and the other looking at it from the inside They are called Black Box Testing and White Box Testing respectively and most of
106. ereas the C930e did not have any reliable sources indicating that it worked So we ended up with going for the Logitech C920 webcam 30 http vimeo com 84483228 51 http www helifreak com showthread php t 519986 52 http forums logitech com t5 Webcams C920 driver for Ubuntu VersionX Fedora VersionX or ArchLinux m p 894552 M96304 VIDEO COACHER sie Catch 21 22 05 2014 Project Documentation Version 3 0 4 Camera Rig Tech Document Figure 52 The Camera Rig VIDEO COACHER Frl 7 Catch 21 22 05 2014 Project Documentation Version 3 0 Introduction The purpose of this document is to explain the technical choices we made when designing the Camera Rig for the Video Coacher At the time of writing we have an operating Camera Rig which has been used to test camera movement while filming Purpose of the Camera Rig e Make a platform for the camera which makes it possible to move the camera horizontally and to add a pan and tilt function e Bea basis for developing and testing the Video Coacher software The software should be able to detect and track a moving juggler while filming The rig should be portable but sturdy We want to use open source parts which allows the rig to be scalable and easy to expand if the Catch 21 Video Coacher project evolves to a pro version VIDEO COACHER GR Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 1 V Slot Belt Driven Linear Actuator Buil
107. ers wearing a given color we re using orange will be detected by color recognizing software and its position calculated e Current tracking is achieved by using a simple proportional controller using the location of the tracked color e The ODROID X 2 can communicate with Arduino microcontrollers which are being used to control the motor and servos VIDEO COACHER oz Catch 21 22 05 2014 Project Documentation Version 3 0 Performance of the rig e Camera lateral movement o Length 138 5 cm o 4650 step side to side o Ca 3 steps mm e At maximum speed o side to side 2 5 second o lateral speed 0 628 m s o rpm 600 e Camera pan o 45 degrees to each side total of 90 degrees o if operating the camera rig at 2 meter distance and you want to move lateral 2 meter away from end position of the rig the pan servo lets the camera follow you to this point m to keep the lateral speed of 0 628 m s the pan servo need to move 45 degrees in 3 2 seconds for keeping the juggler in the center of the picture m the challenge is not to get the servo to move fast enough but to move smooth enough m the juggler can at two meters distance from the rig move 5 4 m from side to side e Camera tilt o The tilting servo is set to tilt 25 degrees up and down VIDEO COACHER RIG Catch 21 22 05 2014 Project Documentation Version 3 0 5 Technical Document Foot Controller Figure 57 Foot Controller VIDEO COACHER oct Catch 21 22
108. ery important so we re going to design them but not buy them for the final product Table 31 ID 62 ID 63 As a user Story Points 6 Create Cable want easily identify where Interfaces cables are supposed to be plugged in So I don t accidentally insert a cable into the wrong plug and break something Acceptance Manual is accepted by product criteria owner as representable Comments This PBI corresponds with the PBI 61Odroid Casing so we ve not included this yet It will happen whenever Odroid Casing happens Table 32 ID 63 ID 66 As a developer Story Points 16 Improve Stepper want to make sure the stepper Motor Performance motor works optimally So I can use most of the potential in the hardware Acceptance Both external and internal advisor criteria agrees that the stepper motor is operating as well as we can hope for Comments Table 33 ID 66 VIDEO COACHER lt Catch 21 22 05 2014 Project Documentation Version 3 0 ID 68 As a developer Story Points 4 User Study want to see what the potential marked desires from a product such as ours So I can create a product that meets customer s desires Acceptance Complete a survey online as well criteria as through connections known to be interested in the product Comments Table 34 ID 68 ID 70 As a developer Story Points 16 Make Current I want to be able to fully
109. es int timeshift Dynamic_Delay functions descriptions void increaseDelay This functions emits a signal causing the Control class to increase the delay by one increment void decreaseDelay Same as increase but decreases by one step instead void setDelayedFrames int timeshift This functions emits a signal to Control with the parameter causing the stream delay to be set to that time VIDEO COACHER et Catch 21 22 05 2014 Project Documentation Version 3 0 3 2 Control Unit UML Class Diagram Interrupt timer Settings for motor Figure 11 Control Unit Class Diagram VIDEO COACHER Fo Catch 21 22 05 2014 Project Documentation Version 3 0 Class Descriptions Sketch In the Arduino microcontroller the main is called sketch and it consists of three functions void setup void loop void isr and the following attributes Motor pins int in1 Pin 8 int in2Pin 7 int in3Pin 6 int in4Pin 5 int enablerA Pin 10 int enablerB Pin 9 Motor control int rpm 1 int directionInt 0 int stepDelay 0 int pwm 255 VIDEO COACHER M Catch 21 22 05 2014 Project Documentation Version 3 0 For communication char charln String stringln String temp Main function description void setup Sets motor variables starts serial communication and changes the PWM frequency on the enabler pins by modifying timer 1 TCCR
110. ese three factors should not be underestimated Precise feedback is essential for practice and improvement Being able to focus solely on that feedback while receiving it is equally important And finally repetition of that feedback so as to get a full and detailed understanding is very important for improvement It is very hard to fix something if you don t fully understand what you are trying to fix VIDEO COACHER 228 Catch 21 22 05 2014 Project Documentation Version 3 0 With all the benefits video cameras bring why are they used so seldom during practice The main reason for this is likely that video camera use is very disruptive to the practice flow A juggler practicing with a camera would have to make sure that he is in the field of view of the camera he has set up When he wants to see whether he is doing a pattern correctly or check for errors he will then have to go to the camera and rewind to the exact spot he is interested in play it back on a very small screen then rinse and repeat many times for each pattern he has issues with This would obviously take a prohibitive amount of time away from practice Many jugglers therefore end up filming their practice sessions only rarely The disadvantage with this is that it increases the risk of not discovering incorrect technique until very late in the learning process VIDEO COACHER 22 Catch 21 22 05 2014 Project Documentation Version 3 0 3 Make Your Training M
111. esentation rooms for all presentations Web Responsible e Create website about the Catch 21 Project e Update website with relevant information related to the Catch 21 Project Monthly Progression e Make the monthly progression document VIDEO COACHER fete Catch 21 22 05 2014 Project Documentation Version 3 0 2 2 Jacob Document Responsible Check and approve all documents respond with approved not approved to sender Make and keep official documents layout up snuff standardize and maintain layout in MS Word for all documents Make sure the official layout of the Catch 21 Project is enforced throughout documentation Timesheet Responsible Organize update and summarize timesheet table Export from Scrumwise Make sure members fill in their timesheets in due time and inform group leader if this does not happen Make sure members fill in timesheets correctly Make and update timesheet frontpage Budget Responsible Keep product budget up to date Keep group members spending budget up to date Keep track of money spent in regards to the budget and make sure we do not overspend Keep budget format in a presentable and good form Gather and store all receipts items bought via client budget Gather and store all receipts bought via group members budget VIDEO COACHER Js Catch 21 22 05 2014 Project Documentation Version 3 0 2 3 Even Implementation Responsible e Make sure desig
112. ests are the form of Black Box testing that we have conducted most frequently They are the type of tests that have their test cases based directly on the system s functional requirements Functional tests describe what a system or function does and by passing the test we verify that system complies with the requirements 2 5 Usability Test Usability tests are a special kind of functional test which does not concern itself with whether the product works or not but rather how easy it is to operate Since we intend to create a product that is easy and hassle free to use we have certain usability criteria to pass at the acceptance level as well to consider 2 6 Code Swapping Code swapping is a static form of code review where upon completion of a software unit It is common knowledge that the quickest way to spot mistakes in any text format is to have someone else read it The pair reviewer s task was to look for common mistakes and structural weaknesses that inhibit evolvability of the product and otherwise lines that deviated from the code standard VIDEO COACHER EG Catch 21 22 05 2014 Project Documentation Version 3 0 2 8 Ad hoc Since beginning of the project before plans and strategies had formally crystallized the team had early access to several parts and components referred to as OEM This meant that we were able to start familiarizing ourselves with these components capabilities by running improvised tests on them
113. f our own design It will be designed according to the schematic provided and made so that the Arduino can be plugged right on to it This will comprise all connections between Arduino and the motor driver L298 as well as all the outputs The diodes to be used D1 D8 are 2A fast types Schottky preferred Vr 1 2 Q 2A tr lt 200 ns Figure 14 Proposed PCB layout designed in Fritzng O QD O 00 ie D 4 f nf S RN m 0X6 opn VIDEO COACHER 92 Catch 21 22 05 2014 Project Documentation Version 3 0 4 2 Foot Controller gt PSB to Odroid ARDUINO l Catch 24 TITLE Foot Controller Document Number REU Date 19 05 2014 17 48 46 Sheet 1 1 Figure 15 Foot controller schematic This schematic shows the wiring of the foot controller VIDEO COACHER ae Catch 21 22 05 2014 Project Documentation Version 3 0 Components The foot controller is a fairly simple design and consists of the following e One Arduino microcontroller with serial communication over USB to Odroid e Five action buttons A1 A5 that share one analog pin Different resistor values give each button different read values e One toggle button which changes system mode e Separately backlit button six LEDs in total the idea being that a lit button will mean an active button i e a button with an available
114. first four steps by way of FSOP which is the simplest activation sequence Note that the coils span the entire rotor house so that the pair of leads for each coil stand juxtaposed each other Figure 48 Full step one phase stepping principle Source http en wikipedia org wiki Stepper motor cite_note 2 As you can see FSOP activates one coil after another First one then the other then the first one again but with reversed polarity and so on Though the field circumvents the shaft with these four steps the shaft itself moves only a fraction of a full rotation depending of how many designated steps it has per revolution The one we re using has 200 steps per revolution giving it a step angle of 1 8 degrees per step VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Configurations FSOP Full Step One Phase is as mentioned the simplest control sequence It is also the least power consuming as it only engages one coil at any given time It moves the rotor exactly one full specified step angle for each pulse which in our case would be 1 8 degrees The control sequence for running FSOP is shown in Table 1 Figure 49 Table 1 For a long time we used this mode because we had trouble limiting the current through the coils rendering the PSU we were using at the time unable to effectively feed both coils at the same time without leading to major voltage drops and loss of performance Once we were abl
115. for the two modes and explain exactly what they do We start by looking at High Repetition High Rep Options 1 Increase Delay This is one of two buttons which lets you adjust the streamed time shift By tapping this button you are able to increase the session delay up to 20 seconds Default time shift is set at 2 seconds 2 Decrease Delay This button lets you decrease the time shift down to real time Useful for shorter repetitive exercises 3 Loop This button acts as a toggler that sets the current stream buffer to run in a loop until you toggle it again 4 Sound on off When connected to a speaker the system may feature a soft audible signal that will go off whenever the set time shift has run its course This reminds the user that new footage is coming up on screen This is a matter of preference and so you will be able to turn the sound on or off as you see fit 5 SlowMotion This button will let you inspect your most advanced moves more closely Push the button once to slow the current stream down by half Push again to return speed to normal VIDEO COACHER 225 Catch 21 22 05 2014 Project Documentation Version 3 0 Low Rep Options 1 Record Stop This button lets you record a sequence of chosen length Push to record push again to stop The latest recording is always marked for playback 2 Play Pause This button will let you playback your latest recording Toggle between play and pause 3 F
116. function e One 7 segment display In order to save pins the display is attached to a smart Adafruit driver that allows us to control the display over a single DC bus instead of using multiplexing The foot controller is powered over USB More information about the foot controller and its components can be found in the Foot Controller Tech Document Service and Development Manual or by visiting adafruit com 12 https www adafruit com products 879 13 For more information see Foot Controller Tech Document in Tech Document Collection found in the annex 14 For more information see found in the annex VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 4 3 Wristband Catch 21 TITLE Wristband Document Number Date 15 05 2014 19 23 05 Figure 16 Wristband schematic This is the schematic for the wristband remote controller which is currently under development The controller will be wireless and communicate with the Odroid via Bluetooth It is powered by a small rechargeable battery and the built in charger fits a standard USB port VIDEO COACHER Js Catch 21 22 05 2014 Project Documentation Version 3 0 Components e Bluefruit Ez Key 12 Input HID Keyboard Controller e Adafruit Micro Lipo USB Lilon LiPoly charger e Lithium lon Polymer Battery 3 7V 500mAh e Power button Adafruit Push button Power Switch Breakout e Six Tactile Switch But
117. g bool showlmage double sec One attribute in particular worth mentioning is cv Vector lt cv Mat gt imageBuffer as it s the buffer containing the frames captured by the camera It s from this buffer Control will pass frames for either processing writing to file or displaying on a GUI window The buffer has a size of 600 and whenever the buffer is filled up the counter controlling where frames are saved will be set to 0 so that the oldest frames will be overwritten with new ones The rest of the attributes are essentially control variables used by the different functions to provide correct output at the correct time VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 The constructor just sets the default value of attributes and creates the buffer and sets its size putlmage cv Mat imgin This function is called whenever the Cameralnput object is delivering a new frame This function then places the frame in the buffer and then checks if either the stream processing or file is ready to accept a new frame Should any of these be ready it will emit a signal telling their thread to run the proper function It then increments resets counter which points at the position in the buffer where the next frame should be saved and asks Cameralnput for a new frame This function is called by the Dynamic Delay class which is active when High Repetition mode is activated This simply tells the program that delay
118. g classes and change the values assigned there All paths are the paths used on GitHub e Catch21 Catch21 Arduino Code Arduino Libraries Servo Driver Rig Servo cpp initialize function e Catch21 Catch21 Arduino Code Arduino Libraries StepperLibMod2 StepperMod cpp Constructor VIDEO COACHER 2sy Catch 21 22 05 2014 Project Documentation Version 3 0 L Technical Documents VIDEO COACHER Fri Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Technical Documents Version 1 0 Version Date Changes in document Responsible 1 0 22 05 14 Created documents Project Group Formatting Jacob amp Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER 2s Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents 1 Motor Tech Document 261 2 Technical document for Odroid arnrrnnnoonnrnnnnorrnnnrnnnnvrnnnnennrnnennvrnnnennnrnnennsennrrnesennnrnnssennrnnesennnnee 273 3 Camera Technical Document 281 4 Camera Rig Tech Document samussmessretvraesrassveesantansnenenedenededegdadseadsaedansenenedekekekedededededekededededetanet 287 5 Technical Document Foot Controller AAA 297 6 Technical Document for Wristband u r u nennen nenn 307 8 Study of Motorized Slider Systems cccsesssseceeesessese
119. g activity examples from two of our sprints One ex is a documentation sprint and the other is a product sprint During the sprint planning meeting we estimate the time to be spent on each PBlI activity Using this method gives feedback during and after the sprint as we see if the time spent is close to the time estimated for each PBl activity We also have a sprint review meeting at the end of each sprint to review and adjust the time estimates for similar activities in the coming sprints Sprint 1 ER Documents ER make Risk Plan Outline Create deadline calender ER Presentation 1 ED Control camera CD Live stream Figure 4 Sprint 1 Documentation backlog example DOC 177h DOC 12h Doc 3 28h 28 1h 5h Sprint completed Sprint completed Sprint completed Sprint completed Sprint completed Sprint completed Catch 21 22 05 2014 Project Documentation Version 3 0 Sprint 2 ER Update Test Plan With Completed Tests DOC 1h Sprint completed GitHub DOC th Sprint completed Assemble amp Test rig 42h Sprint completed Design Software Structure DOC sh Sprint completed ER Create System Use Case Diagrams DOC sh Sprint completed Create Project Folder Structure DOC sh Sprint completed Tilt amp Pan Servo Interface sh Sprint completed ER Camera Platform Motor Interface 7 45h Sprint completed GLP Remote Control Rig sw 7h Sprint completed Video Stream Interface 20h Sprint completed Store recording 22h S
120. g the Video Coacher for juggling practice is superior to traditional training Target Audience The target audience for this document are jugglers and to a lesser extent contemporary circus arts practitioners and dancers The Video Coacher can be used successfully by practitioners of contemporary circus arts and dance although it s main purpose is to cover juggling The Video Coacher system was made with a second version in mind which would be tailored to fully cover dance as well as all contemporary circus arts That version is called The Video Coacher Pro Overview This document begins by describing the main impediments for jugglers impediments that hinder them from improving as fast as their potential allows These impediments can also make it harder to learn correct technique It covers most traditional approaches used to improve the quality of juggling practice as well as the weaknesses these approaches have Moving on the document explains what the Video Coacher system has to offer to jugglers wanting to make the most of their training time It also describes the main product features The document ends with information about how to influence the development of the Video Coacher from it s current prototype into a commercial product VIDEO COACHER f2 Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents EEE Elte LE nadeansiceniomieiesamromaseae 218 1 The End to Inefficient Juggling Training ANEREN
121. gradually accelerated Passed Tested By Eyvind Even Date V1 28 4 2014 V2 29 4 2014 V3 4 2 5 2014 V1 2 Failed V3 4 Passed Test Report 18 PSU Replacement Test V1 4 VIDEO COACHER 76 Catch 21 22 05 2014 Project Documentation Version 3 0 Stream Delay Implementation s E s Functional A part of the program that implements Video Stream delay Acceptance Video must continuously display what happened a certain time ago until the Criteria program is stopped Approach Ran the source code in Qt Creator for a longer period of time Results Program seemed to be able to run as long as we wanted although the delay w comments seem somewhat inaccurate on the Odroid and the frame rate seemed slower than it should be Tested By Brian amp Jacob Test Report 19 Stream Delay Implementation VIDEO COACHER 7 Catch 21 22 05 2014 Project Documentation Version 3 0 Name Use of Foot Controller Test ID Story ID PBI Test Type Usability Description Check to see if foot controller is sensibly design from a user s point of view Did a test on the dummy box without circuitry E EE Acceptance Can easily hit desired button without hitting wrong multiple buttons Criteria Button are responsive don t get stuck Easy to read display from standing height Box should stand firm on the ground when fusing it Approach Check if enough space between buttons Step on buttons che
122. harp angles Comments This is going to be one of the last things we do as it depends on the rest of the physical product to be more ore less finished Table 24 ID 48 ID 49 As a user Story Points 4 Create Parts amp want to be able to see what Datasheets parts my product consists of Document and how they operate So I can order new parts and properly operate them if something breaks down Acceptance Document is accepted by product criteria owner as representable Comments Table 25 ID 49 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 IDH 50 As a user Story Points 4 Create User Manual I want a manual for the product So I can learn about the functions and uses it offers Acceptance Manual is accepted by product criteria owner as representable Comments Table 26 ID 50 ID 52 As a developer Story Points 6 Design Software I want a clear overview of the Structure design of the software So I can implement software in a good way Acceptance UML diagram is easily criteria understood and a teacher with software background accepts the design as a good one Comments Table 27 ID 52 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 ID 54 As a developer Story Points 6 Create System Use I want to be able to present the Case Diagram use of the product to other people So I Can easi
123. he Video Coacher easily without the risk of connecting wrong cables Following three connection will be used 1 USB camera connection 2 ISO A connector o Stepper motor connection 4 leads o End stopper switches 4 leads 3 ISO B connector o Pan servo 3 leads o Tilt servo 3 leads e The reason for choosing the ISO 10487 car audio connector for this prototype was to have an easy way to make a custom connection with the possibility to use thick enough cables for the stepper motor o Link http goo gl cgqATo6 VIDEO COACHER Fler Catch 21 22 05 2014 Project Documentation Version 3 0 Progress so far e We have a working Camera Rig prototype With this prototype we are able to have a user juggling in front of the camera and as the user moves so does the camera e The whole system can be operated by using a foot controller o The foot controller has been designed from scratch in SolidWorks and printed out in a 3D printer e The user can choose between a high repetition mode and a low repetition mode o High repetition has a user specified delay on the live video stream and it runs continuously until the user decides to stop the program or change mode o Low repetition records the user and displays it live if the user wants as he s practicing When the user is done with whatever routine was being practiced he she will stop the recording and it will be replayed from the start Once done it s ready for a new take e Us
124. he main challenges with sprint 6 were database access and that it was such a short sprint only 5 days Because of the length we made sure to look for product backlog items that could be completed rather quickly We also tried to limit the number of PBI s we committed to PBI 20 Website The main challenge during this sprint was that the college server where we were required to upload our content did not at the time offer us access to the database We double checked to see if this was an error on our end After checking we contacted the college IT responsible to get our database access fixed The IT section was very busy and unable have a closer look at the issue until maybe at the end of our sprint We had a discussion about whether we should go for a static site instead of a dynamic but decided it would be a bad solution updating managing content change site material etc is much more time consuming and messy without a database Our chosen solution then was to use a different server with a database we had access to We would upload and make the site there and then we would move it to the required college server when IT had time to fix our database access PBI 489 Update Create General Documents A challenge came up here in regards to feedback on our performance and making it easier for our internal adviser to get a clear idea of how we were working throughout the project This so he could do individual assessment It was solved in co
125. he reasoning behind our choices The documentation contains technical details of the parts used in the system which can then be used if the system needs to be updated or modified e Technical Document List e Motor Tech Document e Odroid Tech Document e Camera Tech Document e Camera Rig Tech Document e Foot Controller Tech Document e Wristband Tech Document e Study of Motorized system e Circuit Schematic Figures This document is found in annex L 13 After Analysis Document The After Analysis is intended as a reflection over the project and process It contains an evaluation of the different aspects of the project as well And results compared against our initial goals for the project This document is found in annex M VIDEO COACHER Vt Catch 21 22 05 2014 Project Documentation Version 3 0 Annex Catch 21 22 05 2014 Project Documentation Version 3 0 A Product Backlog Requirement Specification VIDEO COACHER Fr Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Product Backlog Requirement Specification Version 3 0 Version Date Changes in document Responsible 1 0 10 02 14 Created document Christian 2 0 28 03 14 Updated the PBI table Christian 3 0 21 05 14 Color coding and PBI table Christian Jacob Christian A Formatting Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt
126. hich must be completed for the project to be finished The reason it has not yet been completed is that it is dependent on a performance date Expected completion is the 06 06 14 12 High Repetition Mode o Much of the work has already been done on this PBI Currently it is on hold so we can finish the project documentation We expect to complete this PBI before the final project deadline 123 Wristband Software o After conversations with our client this was found to be less important than the foot controller 100 Implement PID Controller o This is an important requirement and our goal is to complete this PBI before the end of the project 82 Wristband o Same as for PBI 123 13 Slow Motion o Another important PBI Most of the work is finished on slow motion and we aim to complete this before the project finishes 104 Define user environment requirements o We aim to finish these before the project ends the environment requirements is an important part of the product documentation 106 Camera Position Calibration Routine Part 2 o The Video Coacher can still be used even when the calibration routine doesn t work therefore it was considered less important than the features we are currently implementing 61 Create Odroid Casing o After advice from our client casing was determined a nice to have but not essential feature as the system works without it Casing would provide some protection for the system and give it a more finished lo
127. hours the next day e By the end of this day the referent should o Get an approved from the document responsible o Send an email to Jan Dyre Bjerknes that contains a link to the Minutes o Post to Google Forum Post title should hold the name of the document and the date and week in the title Contents should be the link to the Minutes Document VIDEO COACHER fie Catch 21 22 05 2014 Project Documentation Version 3 0 Minutes from the Meeting with Jan Dyre e Whenever a meeting with external advisor happens whomever is weekly responsible will take minutes from that meeting e The minutes document is to contain o What was decided o Who took responsibility for doing what was decided e The minutes should be finished within 24 hours of the meeting end i e latest at 12 00 hours the next day e Within this day the referent should o Get an approved from the document responsible o Send an email to Jan Dyre Bjerknes that contains a link to the Minutes o Post to Google Forum Post title should hold the name of the document and the date and week in the title Contents should be the link to the Minutes Document Post Agendas for Advisor Meetings e Post agendas to the forum by the beginning Monday of the week The referent is responsible for this This means agenda for internal and external advisor meetings if these are happening that week o If there are no points on the agenda yet make a post with the meeting date advisor
128. hten by hand There is a quick release function The tripod model is K nig kn tripod40 Figure 55 The tripod is connected to the rig endmount VIDEO COACHER 2s Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 5 End Stop Switches The Camera Rig needs to be calibrated every time the system starts up Two End Stop switches mounted to the rig give the possibility to do this automatically 3 way End Stop Switch explanation Purpose of the switch e To be used in the calibration routine of the camera position every time we start up the system e Safety stop if the Arduino tries to drive the camera outside of the operating range Figure 56 End stop switches VIDEO COACHER PRE Catch 21 22 05 2014 Project Documentation Version 3 0 Explanation e The switch is micro switch w roller lever and three terminals o COM always connect to COM o NO Normally open o N C Normally closed e If using the N O pin the circuit is o open if the switch is open o closed if the switch is closed e If using the N C pin the circuit is o closed if the switch is open o open if the switch is closed e f using both N O and N C terminals at the same time you can make two circuits which combine the two modes Main Component 6 Cabling from the Camera Rig There will be three connections between the Camera Rig and the Central Unit The user should be able to connect and disconnect all the cables of t
129. icrocontroller and a Motor Driver and handles the automation of the actuators on the Camera Rig Occasionally it receives an input from one of the rig end switches that calibrates position VIDEO COACHER 225 Catch 21 22 05 2014 Project Documentation Version 3 0 Placement The Cabinet can be placed anywhere between the rig and the monitor on the ground or on a table Alternatively the cabinet which hasn t been designed yet be made so that it can be suspended from one of the tripods Connectors Power for the Odroid board e 5V 2A with a 2 5mm 0 8mm DC plug Power for the Stepper motor e 18 5 V 4 5 A with a 6 5mm 1 0mm DC plug Stepper Motor and End Stoppers connection e ISO 10487 A connector 1 yellow motor out 1 2 VCC end switch COM 3 green motor out 2 4 End switch 1 motor side NO 5 blue motor out 3 6 End switch other side NO 7 red motor out 4 8 unassigned O O O O O O O O I5010487 connector plug side view Motor Out1 VCC Motor Out2 End Switch 1 Motor Out3 End Switch 2 Motor Out4 unassigned Figure 41 15010487 Connector BL GND B2 GND B3 VCC B4 VCC B5 PAN B6 TILT B7 unassigned B8 unassigned VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Pan and Tilt for Camera Connection e 15010487 B connector o 1 GND PAN o 2 GND TILT o 3 VCC PAN o 4 VCC TILT o 5 PAN o 6 TILT o 7 un
130. ider solutions Many configurations many examples Informative store Active community belt motor programmable unknown but enough depends on configuration and choice of motor off the shelf prices depends 320 Catch 21 22 05 2014 Project Documentation Version 3 0 on configuration on configuration but appears fair but appears fair Availability unknown in stock in stock Essential parts Essential parts in sold out stock RAM does not facilitate adding custom motor but plans to launch motorized dolly later Adding motor does however appear feasible VIDEO COACHER lt 2 Catch 21 22 05 2014 Project Documentation Version 3 0 Links IGUS http www igus com Varavon http www varavon com RAM http www revolvecamera com MakerSlide http www makerslideeurope com OpenBuilds http openbuildspartstore com Conclusion OpenBuilds specializes in linear actuators and appears to be the best solution for us It is cheap elegant and versatile The parts appears to be of high quality and applicable in a wide array of configurations and precision demanding projects with heavier loads than what we require It is DIY do it yourself oriented and has an informative store an active community and offers examples and resources We will present Jan Dyre with our findings VIDEO COACHER fer Catch 21 22 05 2014 Project Documentation Version 3 0 9 Circuit Schematic cr
131. implement before final delivery Table 42 ID 103 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 IDH 104 Define User Environment Requirements As a user want to know what conditions is required for the system to work optimally So I don t set up the system in the wrong environment and experience technical difficulties as a result Story Points 4 Acceptance The user manual includes the criteria requirements set for proper use of the system Comments Table 43 ID 104 ID 106 As a developer Story Points 14 Camera Position want the software to be able to Routine calibrate the position of the motor camera So that the system at any given time knows where the camera is located Acceptance It is possible to print out the exact criteria location of the motor during runtime Comments We ve finished the hardware part we ve got switches at the end of each side of the slider and we will implement the necessary software between the delivery of this document and the final presentation Table 44 ID 106 VIDEO COACHER Frei Catch 21 22 05 2014 Project Documentation Version 3 0 IDH 110 As a user Story Points 4 Manuals I want manuals covering the different aspects of the system So I or other parties can read up on how to use system Acceptance There are manuals covering the criteria following aspects User
132. in the journey that is our project In other words aiding and pointing us in the right direction not leading us there 7 Communications 7 1 Scrum Team Communication Communication inside the Scrum team is done mainly via these channels e Various Scrum meetings amp face to face dialog e Email e Phone amp text e Online discussion forum e Video conferencing tools e Scrumwise Catch 21 22 05 2014 Project Documentation Version 3 0 7 2 Advisors amp Client Communications with advisors will mainly be via these channels e Weekly meetings with our Internal Advisor e Scrum Review and Scrum Retrospective Meetings e Meetings after appointment with External Advisor amp Client e Email e Online forum e Video communication tools e Face to face talks 7 3 Public Communication Communication with people less closely tied to the project will mainly be done through the website The website functions as a main information central for anyone interested in the Catch 21 Project and the Video Coacher product Other means of communication is the website forum and our project email 7 4 Marketing of The Catch 21 Project As a group we want to market our project work to friends fellow students and teachers at the HBV College We don t intend to spend much resources on marketing but we have made a simple plan for informing others about our project e Inform about the project and project results during our 3 presentations
133. individual sprint This document is found in annex H 9 Sales Information Document The Sales Information Document is a document that shows the main features and sales points of the Video Coacher product The document makes a case for why the Video Coacher is the tool of choice when aiming to improve the quality of practice sessions It covers the main impediments to quality practice sessions and some of the current solutions This document is found in annex I 10 User Manual The User Manual shows the user how to get started using the Video Coacher It presents the user with the two different modes of operation instructions and an overview of the controls with the help of vivid drawings This document is found in annex J 11 Service and Development Manual The Service and Development Manual contains instructions on how to service maintain and develop the product It is a document to be used as a resource if something goes wrong with the system It also contains a parts list for use if any of the system parts needs to be replaced This document is found in annex K VIDEO COACHER Er Catch 21 22 05 2014 Project Documentation Version 3 0 12 Technical Documents The Technical Documents is a collection of short documents looking at and comparing different parts used for the system These documents lays the foundation for making informed choices when deciding on parts and describe the benefits of the various parts and t
134. ing you ve set up all the physical parts properly you need to run the executable called VideoCoacher located on the desktop If you have changed some code and need to recompile simply go into the GitHub folder and navigate to Catch21 and write sh build sh in the terminal Odroid Color Tweaking If you want to change the color which is being tracked you need to go into the file called Process cpp the file location on GitHub is Catch21 Catch21 Odroid Code Motion Tracking Color Recognition Process cpp On line 15 at the time of writing it says cv inRange imgHSV cv Scalar 1 130 30 cv Scalar 15 255 250 imgThresh what you want to tune is the Scalar values The color you re looking for should be between these two scalars The parameters are Hue Saturation and Value If you re unsure what the HSV values for your colors are you can find out by opening Microsoft Paint and use the Edit Colors option here you ll see will see both the RGB and the HSV values as you change the color If you don t have a Microsoft OS you can just search the web for something similar that lets you dynamically change the color while seeing the HSV value Microcontroller setup The only thing you need to concern yourself with regards to hardware interfaces is what pins are being used Currently we ve hardcoded the pin locations in the classes listed below if you for some reason choose to change the pin locations you ll need to go into the followin
135. int 7 8h Sprint completed Sprint completed Sprint completed Sprint completed Sprint completed Sprint completed Sprint completed VIDEO COACHER ron Catch 21 22 05 2014 Project Documentation Version 3 0 117 hours completed 4h Eyvind an f Jacob 27n amp Brian 50 5 h Nee 14h 20 sw 30n Sprint completed 89 30n Sprint completed 93 30n Sprint completed 77 9n Sprint completed Sprint Overview 4 Sprint 6 VIDEO COACHER fe Catch 21 22 05 2014 Project Documentation Version 3 0 Sprint 5 Completed Team Catch 196 15 hours completed ystein 26h Eyvind 21h Ee Jacob aan ean 82 85 h Even 12h Sprint 5 Miscellaneous Work 76 25h Sprint completed Document Challenges Impediments and Solutions DOC 15h Sprint completed Assemble Project Management Plan v2 DOC 8 5h Sprint completed CR Make and Deliver Physical Deliverables NB Deadline 10 00 am 01 04 14 26h Sprint completed CR Update Project Plan 73h Sprint completed CH Update Requirement Spec backlog DOC sh Sprint completed CH Update Test Document DOC 14 5h Sprint completed Finish and cleanup structure for Google drive 4h Sprint completed Product Status Document DOC 8h Sprint completed L Mock Presentation With Jos for 2 Presentation 02 or 03 04 kl 10 00 lt _ gt 13n Sprint completed E Presentation 2 DOC 24 39h Sprint completed GED Camera Tracking sw oh Sprint completed Sprint Overview 5 Sprint 5 209 Catch 21 22 05 2014 Pr
136. ion Version 3 0 Odroid XU For better single thread and overall performance the Odroid XU is an option This based on the Exynos5 Octa SOG and is a completely different design with Arm Cortex A15 A7 anda PowerVR SGX544MP3 GPU so you are not able to run the Odroid X2 image see more under Other This has all the benefits from the Odroid X2 and is at the same time considerably faster This is our preferred replacement part PC Any mid tier PC or laptop from 2010 gt running Linux should be able to do the job This will increase the overall size weight and power usage of the product and is not ideal Due to completely different hardware you are not able to run the Odroid X2 image see more under Other Other When running our system on different hardware It might work with just a recompiled kernel and the Odroid X2 image but it is recommended to do a fresh install of Linux that is tailored for your hardware architecture and then install the libraries our software requires a list of required libraries will be included in the final report It might require some adjustments to make our software run like changing the address used for serial communication etc VIDEO COACHER 2 0 Catch 21 22 05 2014 Project Documentation Version 3 0 3 Camera Technical Document VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 Introduction In Catch21 the camera plays a critical part a
137. ioning or should there be missing parts new ones need to be ordered ASAP Table 3 IDH 17 IDH 7 Save Recording As a user I want to be able to save recordings that I liked to storage device So I can watch the recording at a later time Story Points 4 Acceptance Selecting some form of save criteria option stores a recorded clip to the attached storage device Comments Table 4 ID 7 VIDEO COACHER Ft Catch 21 22 05 2014 Project Documentation Version 3 0 ID 8 Transportable Storage As a user I want to be able to bring with me recorded clips elsewhere So I can show other people my clips even ifthey re somewhere else Story Points 1 Acceptance criteria The storage device can easily be detached from the camera module and plugged into other compatible platforms and accessed there Comments Table 5 ID 8 ID 10 Motion Detection As a developer want the camera to be able to detect specific objects So I can create software that makes the module follow the detected objects Story Points 16 Acceptance Software can detect certain criteria objects on video either by colour or by shape Comments NOTE THIS PBI HAS BEEN REPLACED BY ID 41 Table 6 ID 10 VIDEO COACHER fv Catch 21 22 05 2014 Project Documentation Version 3 0 IDH 11 As a user Story Points 10 Camera module I want to
138. isc shizzle 18 95 h left In progress GID Wristband CID niet In progress IN Define user enviroment requirements 12h To do CR Create ODROID Casing CI ish To do GID Manuals TIEL Aen ien In progress GER High Repitition Mode CIC t4hieft In progress LD Update Requirements Document 0 h left To test ECH Create Parts amp Datasheet document DOC 2hleft In progress GID Document Code CL voc 12 75hleft In progress Sprint Overview 1 Sprint 9 VIDEO COACHER 205 Catch 21 22 05 2014 Project Documentation Version 3 0 Sprint 8 Completed Team Catch 204 hours completed ystein 39h Eyvind 31 5h Bei Jacob 28n BB Brian 58h Even 19 5h Sprint 8 Goals oh Sprint completed CH Misc Sprint 8 49h Sprint completed Put Everything Together sw 65h Sprint completed H Foot Pedal Print amp Assemble 26h Sprint completed ER Stream Delay 24h Sprint completed Switch to Dedicated PSU 10h Sprint completed GID Create Circuit Boards 30h Sprint completed Sprint Overview 2 Sprint 8 VIDEO COACHER Fall Catch 21 22 05 2014 Project Documentation Version 3 0 Sprint 7 Team Catch ystein 8h Eyvind Even 37 75 h Sprint 7 Miscellaneous Work CA Footpedal Increase motor speed E Improve Color Recognition CH Read up on PID controller Completed 140 25 hours completed 6 5h Ee Jacob son Brian 22h 96 25 h 13h 7h 8h 6h KI Camera Position Calibration Routine part 1 2h CR Current Limitation Sprint Overview 3 Spr
139. l bolts slightly until you achieve the right tension Figure 43 Camera Platform without camera housing VIDEO COACHER PRE Catch 21 22 05 2014 Project Documentation Version 3 0 e The timing pulley o Make sure that the timing pulley is properly fastened to the stepper motor shaft use 2mm Umbraco Figure 44 Timing pulley e Calibration routine of the Camera position o To allow a correct calibration routine the End Stopper switches need to be in working order Further reading More information of the Camera Rig can be found e Camera Rig Technical Document e Construction Document e At www openbuilds com 28 Found in the Technical Document Collection see annex 29 Found in the annex VIDEO COACHER PRE Catch 21 22 05 2014 Project Documentation Version 3 0 2 4 Wristband A wearable controller that extends the user s remote control via Bluetooth Odroid supports Bluetooth but require a receiver The Wristband can transmit up to 12 distinct ASCII symbols where each can be assigned a specific command With six buttons on our wristband we need read support for six ASCII symbols in the controller software The Wristband casing is currently being designed in SolidWorks and will be fitted specifically to the components inside Charging The wristband is battery powered using a 3 5V 500mAh Lithium lon battery It has an estimated battery life of 20 hours continuous use An onboard charger plugs righ
140. ling We use Qt threads with a controller that distributes work to worker threads Changed acceptance criteria V6 Lowered resolution from 800x600 to 640x480 V7 Moved away from the older C interface and started using the newer C API Acceptance V1 4 The code must run without issues recording and storing as before Then Criteria display the video to a window in in the main GUI thread While the other thread control video processing V5 7 Software must be able to run on the Odroid with decent frame rate This means 24 fps or more on the input stream and at least 10 on the processed stream Approach V1 3 Testing if software could run several code pieces simultaneously Sharing processing resources across several cores We did several tests both in the editor on the terminal in virtual box and on the Odroid itself VIDEO COACHER Fri Catch 21 22 05 2014 Project Documentation Version 3 0 V1 We ran extensive testing in the editor on terminal and Odroid with terminal V2 We made two versions of the code with two different thread implementations and ran the code on two computers V3 In editor mode and on the Odroid via the terminal V4 We read about QT and threading and tested available examples V5 7 Added some lines to the code for checking average frame rate Compiled and ran the code on the Odroid with everything connected for a testing in areal situation Results V1 We have managed to create thread
141. llaboration with our advisor by making an assessment form that we would fill out at the end of each sprint The form would be linked to and discussed during each Sprint Retrospective Meeting VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 PBI 77 Test Lady Ada Shield Board We acquired a shield board from our client to be used as an alternative motor driver and tested it The board did not work The internal bridge components appeared burned We discussed how to move forward and came up with two options Either fix the board or to not use it We agreed not to use the shield board since it was specified lower than the original driver and did not offer more possibilities in terms of power management That would mean that current control would become even more critical and difficult to solve Summary Sprint 7 In sprint 7 we had several challenges but one stood out making the software multithreaded this was becoming a high risk challenge since we had not been successful with implementing it properly The multithreading had now been a challenge for several sprints Getting the whole system to work together was entirely dependent on multithreading working correctly PBI 94 Miscellaneous Work Transferring the website content to the college server which was now up and running caused some linking errors and we lost access to the website We managed to solve this by accessing one of the main files via mapping and o
142. ltage for servos and end switches L298 logic supply D3 Stepper input 4 D4 Stepper input 3 D5 PWM Pan Servo pulse width 900 2100 us sets angle D6 PWM Tilt Servo pulse width 900 2100 us sets angle D7 Stepper input 2 D8 Stepper input 1 HIGH Enable drive current on L298 output channel B OUT3 and OUT4 DA APYN PWM for voltage regulation HIGH Enable drive current on L298 output channel A OUT1 and OUT2 D10 PWM PWM for voltage regulation D11 Digital read end switch 1 D12 Digital read end switch 2 GND Connected to common GND Table 53 Arduino pin map 71298 s logic circuit is currently self powered via on board jumper VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 L298 Dual H Bridge Motor Driver Pin Function 1715 Sense A and B Connected to common GND 2 3 Output channel A OUT1 and OUT2 4 Motor supply voltage ranging from 5 50V We use 18 5V 5 Input 1 connects to Arduino D8 6 Enable A connects to Arduino D10 7 Input 2 connects to Arduino D7 8 GND connects to common ground 9 Logic supply 5V 10 Input 3 connects to Arduino D4 11 Enable B connects to Arduino D9 12 Input 4 connects to Arduino D3 13 14 Output channel B OUT3 and OUT4 Table 54 L298 pin map Notice L298 is the actual motor driver we are using but it is attached to an unnamed and undocumented commercial
143. lts Between the platform and the camera on top we mounted a simple servo controlled tilt pan bracket to be able to control the camera angle The belt actuator is a NEMA 17 unipolar Stepper Motor 18 www openbuildspartstore com 19 For more information see Motor Tech Document in Tech Document Collection found in the annex VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Custom Rig Modifications Servo House It became apparent that the camera mount was not stiff enough to maintain a fixed posture during displacement of the platform but instead began to waver rendering it impossible to capture a clear footage The wavering became further enhanced by the absorbing of ripples from the belt drive The main cause for this weakness was that the entire weight of the camera and upper servo pivoted about the narrow shaft of the lower servo We decided to solve it by reinforcing this weak point of the camera mount and this was when we first turned our attention towards SolidWorks Attaching Tripods To give the rig legs the choice naturally landed on tripods This because tripods are very stable foldable and the attachment can be made so that they are easily detachable The tripod fixtures are fastened to rig with modified lock nuts this can be done by hand Additionally the tripod fixture feature a quick release so that you can detatch the legs while leaving the fixture in place VIDEO COACHER es Catch 2
144. ly explain what the product does Acceptance UML diagram is easily criteria understood and a teacher with software background accepts the design as a good one Comments Table 28 ID 54 ID 60 As a user Story Points 12 Create Camera want the camera to be steady Mount casing when moving So I can move and still see myself clearly Acceptance Image is stable when the platform criteria moves and changes speed direction Comments Table 29 ID 60 ID 61 As a user Story Points 8 Create Odroid want critical parts of the Casing system to be protected So I don t have to worry about accidentally coming into contact with critical parts Acceptance Odroid operates normally without criteria overheating or being susceptible to exterior trauma within reason of course Comments We have begun designing the casing but haven t finished the design amp printed it out yet We will do this if time allows it it s not highly prioritized as of now Table 30 ID 61 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 ID 62 As a developer Story Points 12 Create Circuit I want circuit boards Boards So I don t have to use breadboards and loose wires to operate the system Acceptance Circuit boards successfully run criteria the system Comments After talking with our external advisor we were told having physical circuit boards weren t v
145. manual Service and Development and a Sales Information Comments Table 45 ID 110 VIDEO COACHER Fels Catch 21 22 05 2014 Project Documentation Version 3 0 B Test Plan amp Specification VIDEO COACHER fer Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Test Plan amp Specification Version 3 0 Version Date Changes in document Responsible 1 0 05 02 14 Created document ystein Christian amp Even 2 0 01 04 14 Refurbished the document Brian amp Jacob 3 0 20 05 14 Added test cases and updated ystein text Formatting Jacob amp Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER Frei Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents 80 TaD EEE 39 List of Test Reports eee ETER 40 Glossary and Acronvms ttt ttrt ttt EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEtEttt 41 1 Import nce of TASTING imiinien ination aaao eniai teeak 42 2 Test Methods and Artifacts u 00a een 43 2 1 Levels of Testing nenn a Ihe reitet 44 2 2 Static and Dynamic Testing cece cece eee eee EEE EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEES 45 2 3 The BOX APproachesa u mun abs ebssebsbebsbeesdsteccecochetes coceenes TSAR NENA PAOS RSSRSS SOENEN ANNANN SSAA 45 2 4 F nctional Tests ea euren ee 46
146. mechanical focus of this project has been targeted towards creating a system that can facilitate camera motion It was fairly early established that we wanted a motorized linear slider system Originally the idea was to make an expandible rig that could span an entire room but given the fact that the mechanical field is the discipline that the team is the least experienced in combined with requirements such as of easy and quick setup and portability we were forced to limit this ambition The goal became instead to build a smaller but usable proof of concept that could eventually be scaled up later Later on the mechanical aspect has also involved the creation of casings for the electronic devices we have designed as well as custom modifications and improvements of the prefabricated parts that originally made up the Camera Rig Most of the custom parts were designed in SolidWorks and printed out using the College s 3D printer Having access to the 3D printer was a great door opener for us it enabled us to create almost any part we could dream up not needing to consider whether the designs could even be manufactured using traditional methods 5 1 Camera Rig After a study we decided to go with OpenBuilds customizable slider system as the core element of our Camera Rig solution It consists of a 1 5m rail a wheeled platform and a motorized belt drive to pull the platform as well as a number of additional minor bits such as screws nuts and bo
147. moves Criteria sideways when the tracked person reaches the edges of the screen Approach We compiled all necessary code and ran it on the Odroid we did not include code to tilt and swivel the servos Results Success The motor moved when it should and nothing went wrong But we w comments did realize the motor was running a bit loud and not as smooth as we had hoped Tested By Christian Even Test Report 6 Camera Tracking VIDEO COACHER oz Catch 21 22 05 2014 Project Documentation Version 3 0 Name Servo Control Test Test ID Story ID PBl 7 Task 35 Test Level Unit Test Type BBT Functional Dynamic Description We need to be able to control dynamic servo positioning for camera tilt and pan Changes Acceptance Ability to reliably control servo angle and rotational speed Criteria Approach Connect servo with Arduino Upload code Test control Results Used the common Arduino servo library Was able to control angular position w comments and rotational speed with a pot meter Ready to assemble Tested By ystein Date 19 2 2014 Result Passed Test Report 7 Servo Control Test Catch 21 22 05 2014 Project Documentation Version 3 0 Motor Control Test 2 7 7 BBT Functional Dynamic Want to learn how to control stepper motor before assembling it on rig Acceptance Ability to control speed and direction Criteria Approach Interfaced Arduino L291N motor driver and NEMA17 Steppe
148. mpatible Nano e Arcade buttons and toggle button e LED e Custom made casing 3D printed e 4 digit 7 segment LED display e Component board e USB cable USB cable You can change the delivered USB cable with an Type A to Mini USB type B cable The cable delivered is 3 meter be careful with using a longer cable Our first cable was 5 meter it did not work properly LED To change a LED e open bottom lid 4 screws with 3 mm Umbraco e disconnect the cable to the LED e pull out the LED e insert a new LED e connect LED e close bottom lid VIDEO COACHER Fr Catch 21 22 05 2014 Project Documentation Version 3 0 To change a button To change a button e open bottom lid 4 screws with 3 mm Umbraco e disconnect the cable to the LED and the button e pull out the button with LED e change the button may need to be modified for holding a LED e connect button and LED e close bottom lid Further reading To make new casing do changes to the circuit or change the behavior of the display then more information can be found in the Foot Controller Technical Document and Construction Document 2 6 Spare Parts A list over all parts and suppliers used in this project will be found at www videocoacher com 31 These documents can be found in the annex VIDEO COACHER t253 Catch 21 22 05 2014 Project Documentation Version 3 0 2 7 Software Setup In order to get the program running assum
149. n makes sense before building e Make sure the needed parts are acquired e Make sure the building process is documented Deadline Updater e Update deadlines in the groups internal Google Calendar and the paper edition on the wall in our project room 2 4 Christian Product Owner e Update and keep people informed about scrumwise e Make sure payments are done on time for scrumwise com e Make sure all tasks bring the product more value product means all requirements from the school documents presentations as well as the Video Coacher system e Keep backlog updated and sorted by priority Design Responsible e Lead work with design e Coordinate documentation around design VIDEO COACHER si Catch 21 22 05 2014 Project Documentation Version 3 0 2 5 ystein Test Responsible e In charge of making and maintaining a sensible and easy test documentation routine e Make sure team follows through and properly documents their tests Concept Artist e Make illustrative concept drawings to help visualize goals e Create parts in SolidWorks Product e Hardware and electronics 2 6 Eyvind Integration Responsible e Responsible for proper integration of the different subsystem to the finished product e Give creative input to the development of our product e Physical mounting and tuning of the product Presentation chef e Make the best chocolate cake Product e Hardware and elect
150. name and a comment encouraging group to post points to the agenda in the post body o Members will post their agenda points as replies to the agenda post End of Weekly Referent Responsibilities VIDEO COACHER fev Catch 21 22 05 2014 Project Documentation Version 3 0 2 Roles amp Responsibilities 2 1 Brian Scrum Master e Keep learning about Scrum amp answer group questions e Make sure that group follows modified Scrum to fit the requirements of HBV e Make sure that group members take responsibility for tasks on the Scrumwise task board e Make sure that most of the work being done is implemented as tasks so it is clear to everyone what everyone else is working on e Keep all the different kinds of Scrum meetings on track meetings are used for what they are defined for in the Scrum framework Group Leader e Every 4th week make a monthly summary document of the follow up documents to the external advisor e Stay informed and tell the group of members who are sick etc e Make sure each group member has at least one task in progress e Drive the project forwards and make sure that the project progresses at planned pace e Make sure important tasks chosen and if not assign those tasks to group members e Bea link between the group and college external advisor internal advisor e Responsible for that administrative duties are fulfilled in time e Book meeting rooms pre and after meetings and book pr
151. nd camera form one coherent system Approach Assemble parts Inspect build quality Make sure no loose joints Make sure easy to Assemble disassemble for portability Make sure belt drive is tight V3 Designed a new fixture and support for camera mount to stop camera wobbling A couple of minor design errors before we could mount it Space for the servo cables had not been accounted for and screw holes were generally too small Exit hole for the cables were too small The cylindrical house that were intended to add support for the extended servo horn disk was a couple mm too low Was able to find workarounds Results Unable to fully assemble rig out of the box w comments The rail and belt drive appear sturdy Lack means of attaching camera mount to belt drive platform Lack means of attaching legs to the rail Failed because all parts can not be assembled V2 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 The rig is assembled and ready for control simulation and dynamic tests but the makeshift attachment that joins rail platform and camera mount is not rigid enough Control circuitry is still loose and not easily portable V3 Failed Rig quality improved The fixture is sturdy and prevents camera from wobbling But control circuitry is still loose and in an experimental state Tested By ystein Eyvind 18 2 2014 21 03 2014 26 3 2014 Test Report 3 Rig Build Quality Test V1 3
152. nd interesting bachelor project to contact the college or Tanke og Teknikk to check if they might have any projects available 37 Earl Shatford VIDEO COACHER xi
153. neric laptop type DC converter as these can not prevent overloads either With current control we are now using an 18 5V DC converter that can deliver up to 4 9A 40 The two logic gates that opens up or closes the two motor coil channels VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 Specifications Motor 4 NEMA 17 Bipolar Stepper Motor 4 Mode of Operation Full Step One Phase 4 Current top speed 600 roms I Ratings 4 200 steps revolution w 1 8 degree step angle 4 Rated current 1 68A per phase coil 4 Rated Voltage 2 8 Voc J Reactance 1 65 Q 4 Inductance 2 8 mH Driver 4 L298N Dual H Bridge 2 channels 4 Maximum ratings 4 Peak output current DC operation 2A per channel 4 Supply voltage Vs 50Voc PSU O 18 5V 4 9A 1 Rated Voltage is the voltage required to achieve the steady state of 1 68A through the coils 4 However reaching steady state takes time due to inductance So to run high rpms the supply voltage must be much higher than the rated voltage 42 The L298 datasheet states that the max supply voltage for the driver chip is to be 50V although it does not consider eventual limitations posed by the PCB it is soldered on to Markings on our PCB capacitors indicate that the actual max supply voltage is 35V We use 18 5V however VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 2 Technical document for Odroid VIDEO C
154. nnnnnrnnnennrnrnenvnnnrenvnnnnennrnnnrsnvnnrsnvnsnesnrnenessnesneen 97 GSE EEE 98 6 1 Physical REE vr 98 ETEN PES 99 TEN Ses 99 7 1 Scrum Team Communication RE EE cetacean sesespestieres 99 FEELEN 100 7 3 Public Communication ee 100 7 4 Marketing of The Catch 21 Project nnrnrnrnrnnrnnnrnnvnrrnnnrnnnrnvnnnnrrvnnnrennrnnvnnnrnnnrnsnesnrnneenne 100 7 5 Project Contact Dolls nn ee 101 VIDEO COACHER lt 3 Catch 21 22 05 2014 Project Documentation Version 3 0 List of Tables Table 1 Glossary and Agronyms e nen eng 82 Table ET 5100 use ee 94 Table 3 Areas of Responsibility EE 97 Table 4 Contact Detals ans 101 Lists of Figures Figure Te Gantt Chart DE EN een 87 Figure 2 Timesheet Column Charts snnrnrnnnrnnnnnrnnnnnnvnnnnnnnrnnnnnnrnnnennrnnnennennresnvnnnrsnnnsnrssnesnrssnenee 87 Figure 3 Timesheet Example nenne 88 Figure 4 Sprint 1 Documentation backlog example arrrnrrnvrrennvnnrnrnnenrnnvnrnenrnrnrnrrnensnrnenne 90 Figure 5 Sprint 2 Product backlog example ronrnnnnnnvnnnnnvnnnrnnvrnvnnnnrnnnenvnnnrenvnnnrenvnnnennnrnnneenne 91 Figure 6 Scrum Burndown Chart egene 92 Glossary and Acronyms Name Description Framework for projects based on Agile Scrum development philosophies Serummwiss Scrum software tool used to manage the project Sprint Scrum Fixed period of time where work is broken down into distinct tasks Agile A set of iterative adaptive
155. ntroduction This document describes how our system works We start with the top level design to show the program flow and give an overall explanation Then we cover the technical design in more detail First software then electronics and finally mechanics The last part of the document covers the PBI s that we have not implemented as well as ideas for further product development VIDEO COACHER M t Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents LIST OMPISUPES ES RERRENN RUNTER EEE RES E EIER RUE A E 122 bisto UE 122 1 Top Level Designs ee ENEE EE EEN eege aise 123 1 2 Central Unities nern 124 T3 Control Uniti a mar ne ee REEE 124 1 4 Foot Control elessen areis na een 124 1 5 Wristband EE 124 2 FIOW AE T a u E E S dd such ce duudubebensniichihenstceceesdnedeh 125 2 1 Central nite rses nenne gene Be een 125 22 Control UNIE 54 ces sass wate evade en ste nn oe knee te ee nennen eG die sdulas ealactiv cies sed 127 eTA a TE 128 STEEN 129 3 2 COMEO KUNI ket er 140 A ne 145 4 1 COMO E e 145 4 2 Foot Controller enable 150 Ed El BE 152 5 leet ele EE STG 154 5 1 CAMERA RT 154 KE Ee e Meet EE 156 6 Uncompleted RequireMents PBI S rrrnrnnnnnrrrnnsnvrrnnnnnrrrrrnnnnnrvnrnnnnnrnnsnnnnnvnsennnnsnssssnnsnrsesnnnnnsssnnnsne 161 6 1 RTR ONE 161 6 2 TO RN 162 7 Future development nennen ee anna saeeaceeaceeatenses 165 FV HAOWANG EE 165 7 2 e ET 165 713 PEO Version E 166 7 4 Reguired Libra
156. ntu 135 Update OpenCV in Ubuntu Figure 3 Timesheet Example 3 3 Estimated amount of hours The bachelor project is a 20 credit course and expected hours per person is approximately 600 In our project we are 6 people and therefore about 3600 hours are estimated for the project Scrumwise lets us estimate the amount of time we use on individual tasks which sums up and adds to a total amount hours on each backlog item The hours spent on each backlog item are then summarized to show hours worked every sprint This allows us to keep a close eye on our estimations By doing this continuously we will improve our chances at estimating with a smaller margin of error throughout the project VIDEO COACHER e Catch 21 22 05 2014 Project Documentation Version 3 0 3 4 Activities Whenever making a project plan it is in our advantage to divide the work into different activities and estimate the time spent on each of these activities However it is important to realize that the time estimations are only that estimations not in fact the actual amount of hours Activity Estimated Amount of Hours Administrative Work 400 Research 200 Documentation 800 Presentations 200 Design 500 Implementation 1000 Testing 500 Total 3600 Catch 21 Project Documentation 22 05 2014 Version 3 0 Sprint activities In Scrumwise we represent our activities as Product Backlog Items PBI s Below we are showin
157. ody of the juggler practicing it is hard for him to get an overview Lacking the overview makes it difficult to find the root of an issue with a pattern or a technique Unfortunately when bad technique is not corrected quickly it is reinforced and once a part of muscle memory it can be very hard to unlearn That is assuming it is even discovered Spending time unlearning incorrect technique to progress can be very discouraging to for a juggler 2 Traditional Approaches to Improve Juggling Training The inefficiencies in juggling practice sessions is not something just recently discovered Jugglers serious about improvement have been using various tools to improve the quality of practice for a long time All the approaches used intend to aid self observation body and object awareness and understanding Mirrors are often used by jugglers with success in some areas of juggling technique Mirrors are decent tools for quick checks on body position object balances traps and stop motion juggling patterns They can also be used efficiently to correct or change patterns that you already know very well VIDEO COACHER rot Catch 21 22 05 2014 Project Documentation Version 3 0 Although mirrors are useful for some kinds of juggling training they are inefficient when attempting new patterns This also applies when attempting to correct technical errors in patterns or tricks that require a high degree of concentration The reason why mirrors a
158. oid X2 runs Linux our system should be portable to all hardware able to run Linux Due to our concern about single thread performance slower hardware like the Raspberry pi is not recommended VIDEO COACHER Fr Catch 21 22 05 2014 Project Documentation Version 3 0 Odroid U3 One replacement would be the Odroid U3 This is based on the same Exynos4412 Prime SOC with less I O and some minor changes see block diagram under so it requires another Linux kernel but is able to run the same image as the Odroid X2 It is also half the price 65 so this is a good choice for retail version if price is your concern After testing various resolutions on the Odroid X2 we have decided that our system will benefit from faster hardware and changed our main recommendation to the Odroid XU ODROID U3 BLOCK DIAGRAM Exynos 4412 Prime 1 7GHz Application Processor USB 2 0 USB2 0 OTG USB3503A USB 2 0 Device HSIC 1 3 x USB Host Port HSIC USB Hub Ethernet Cortex A9 Cortex A9 32KB I D Cache 32KB I D Cache PLL OSC NEON NEON USB 2 0 Cortex A9 Cortex A9 HSIC 0 32KB D Cache 32KB I D Cache NEON NEON 1MB L2 Cache VFPv3 MAX77686 PMIC RTC MAX98090 Out Headphone Audio Codec 12C UART Link to Odroid U3 page Hardkernel http www hardkernel com main products prdt info php g code G138745696275 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentat
159. oject Documentation Version 3 0 Team Catch 81 75 hours completed T ystein 25 25h Eyvind 11h Be Jacob th Brian 1h 3 18h 74 Sprint completed _ 2h Sprint completed h Sprint completed 3h Sprint completed th Sprint completed 2n Sprint completed e enen Sprint completed LJ tsn Sprint completed _ msn Sprint completed Sprint Overview 6 Sprint 4 VIDEO COACHER Fi Catch 21 22 05 2014 Project Documentation Version 3 0 135 5 hours completed 3h Bei Jacob 12h Goen 31h TESTET Sprin completed Tan Sprint completed TET sprin completed an Sprint completed _ TI 40 sprint completed TT Sprint completed sn Sprint completed Sprint Overview 7 Sprint 3 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 SSS Sprint 2 Completed Team Catch 234 hours completed ystein 32h Eyvind 15h Ya Jacob 4h A Brian 46h Even 28h ER Update Test Plan With Completed Tests DOC 1h Sprint completed GitHub DOC 1th Sprint completed Assemble amp Test rig Sprint completed GP Design Software Structure DOC sh Sprint completed CR Create System Use Case Diagrams DOC en Sprint completed CH Create Project Folder Structure DOC sh Sprint completed CECR Tilt amp Pan Servo Interface amp h_ Sprint completed ER Camera Platform Motor Interface 45h Sprint completed CR Remote Control Rig sw 7h Sprint completed ER Video Stream Interface 20h Sprint completed Stor
160. ok VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 e 63 Create Cable Interfaces o Cable interfaces are also a nice to have but not essential their importance was downgraded But this might be implemented before the project finishes if the time needed to do so is short enough e 113 Refine PCB Design o It was decided not to manufacture the PCB since our client didn t see this as essential e 48 Cable Routing o Not essential because the system works without it Cable duration would increase if this was implemented e 18 Easy Transport o The system can currently be transported It would be nice improve the ease of transport but other features were deemed more important e 8 Portable Storage o This is considered quite an important requirement but since things like the foot controller is not yet implemented portable storage was judged less important than this Implementing this PBI would allow the use of a USB memory stick and the video material would be auto stored to the memory stick e 15 Metronome o It was classified as a nice to have feature but quite low on importance e 38 Juggling Beat Histogram o During a meeting with the client he graded a beat histogram as quite high in importance But not higher than getting the basic functionality to work It also seems to be a feature that would require some time to implement We are therefore unlikely to be able to implement this PBI in time e 14 P
161. olders meant for it The solution to this was to make the final version with a different binding method PBI 85 Update Test Document A challenge here was that documentation on testing was not done as frequently as we wanted To solve this issue a simple Google form was made so that it would be faster and easier to document This increased the will to document and test for all the members in the group it also made test documenting less scary and less time consuming PBI 90 Finish and cleanup structure for Google Drive One of the challenges we had was that finding documents in the Google Drive folder had become harder and more time consuming Our solution to this has been some restructuring and cleanup of the Google Drive We have also started to use the forum more liberally in regards to much of the information that is not normally included in traditional documents It is easier and faster to find posted material on the forum than in Google Drive VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 PBI 39 Mock Presentation with Jos for 2nd Presentation We had some issues with the first presentation in regards to remembering material as well as presenting in front of an audience To get better at this we had a mock presentation before the actual presentation with our internal advisor present In addition we used more animation to make presentation content easier to remember and present Summary Sprint 6 T
162. on our own initiative These tests have been done without any test plan or test scenario to go by and the main purpose behind them has been to learn more about these component s specifications and how they operate etc before making them part of our system Ad hoc testing have continued to be practiced through the project and their results have been reported in work logs 2 9 Bug Reporting Bugs have been reported in test results and work logs VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 3 Test Specifications This section contains the test reports for all the tests that has been conducted during the course of this project The reports include a short description of what has been tested the test method and approach as well as acceptance criteria VIDEO COACHER 2s Catch 21 22 05 2014 Project Documentation Version 3 0 3 1 Cross Reference Table The following table cross references all the test reports listed in this document with the user stories they originate from Gray rows are test cases that is either not yet conducted or outdated Test ID User Story ID Test Name No Tests Runs 01 05 Camera Control 1 02 06 Live Stream 1 03 17 Rig Build Quality 3 04 Rig Operation 3 05 07 Save Recording 06 08 Low Repetition Mode 1 07 33 Remote Controller 08 09 Remote Control 09 10 Camera Tracking 1 10 11 Stalking Camera S
163. orities requirements and goals changed according to which sprint we were in and depending on what input we got from our client and our internal advisor The progress itself is presented here briefly as phases for convenience sake We believe that presenting it this way is better than taking you on an iterative journey through 9 development cycle sprints If you are unfamiliar with Scrum please do not mistake our description of the project work in this manner to mean that we used a waterfall development model The project progress is simply presented this way for reading convenience Starting Phase In the start of the project there was a lot of uncertainty regarding many aspects the most prominent ones being the first presentation and its deliverables We started early assigning the different roles and responsibilities We assigned the different document deliverables to group members Only the responsibility of making sure a deliverable version was ready before the deadline was assigned not the actual writing work We began looking for and researching parts to our system starting with the most likely ones The phase ended with the 1st presentation and delivering the required documents Elaboration amp Discussion Phase Then we entered a short but very important phase where the product was now the main focus of our attention Through research and discussions with the external advisor and client a common design and implementation idea for the
164. ormatted Jacob amp Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER 1 Catch 21 22 05 2014 Project Documentation Version 3 0 Executive Summary This is a collection of documents written for the Catch 21 Project This collection of project documentation covers the documentation that is considered most important for the project execution and development We start by giving an introduction to our project and what it is about Next we include an overview of all the documents included in the Project Documentation This overview informs you of how the project documents are organized and offers a very brief description of each Complete single documents are always found in the annex We have done it this way to make it easy for anyone to use each individual document independently It was felt that the organization we used would make a tidy and easy to read document collection The full collection of documents include Project Documentation Product Backlog Requirements Specification Test Plan amp Specification Project Plan Risk Analysis Construction Document Standards for Document and Code Distribution of Assignment and Responsibilities Scrumwise Sprints amp Burndown Charts Overview 9 Sales Information Document 10 User Manual 11 Service and Development Manual 12 Technical Documents 13 After Anal
165. ough meetings and a monthly progression document Comply if extra features are asked for but ask the client about priority and inform that the group will work on highest priority first and might not achieve all wanted features in the project timeline Resources away from main features Each backlog refinement meeting sorts the backlog items after priority anew Only the highest priorities go into the next sprint The Product Owner checks that this is actually the case Incorrectly understood deliverables Have an open dialog with the college the supervisors and advisors Keep them informed about which deliverables are planned and the contents of these Keep checking whether or not the deliverables and their content are in accordance with what the college expects Also reread the text describing the required deliverables and ask about unclear points VIDEO COACHER ey Catch 21 22 05 2014 Project Documentation Version 3 0 e Unclear requirement specifications or client changing requirements Meet with the client throughout the project Demonstrate features during presentations sprint reviews and other meetings and keep asking about requirements and priorities Ask if we are prioritizing correctly and if we are working on the product that was requested Ask for feedback and listen to it Make and send a monthly progression document to the client If new options or new information becomes available inform the client and be ready to
166. our test cases have fallen in under the former Black Box Testing Black Box testing methods are any testing procedure that examines a system without any knowledge of its inner structure It consists mainly of running functional tests on the system but there exists non functional and even static aspects as well Typically when performing Black Box tests you work directly with the system s user interface to provide inputs and examining outputs or responses Lower level tests where there s no actual system to run may also be conducted in safe software development environments or by simulation Black Box test cases are usually generated directly from external descriptions of the system s requirements which in our case is the user stories related to our Product Backlog No knowledge of how the system or source code operates internally is required the tester needs only be aware of what the unit or system is supposed to do but he does not need to know how it does it Black Box tests make up most of our system and subsystem testing and all functional testing VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 White Box Testing White Box testing is the complete opposite of Black Box and consist of methods for detailed and structured investigation of inner structure and code i e how a program circuit does what it does We have not spent much time on such in depth investigation 2 4 Functional Tests Functional t
167. print completed ER Sprint 2 Miscellaneous Work DOC 32h Sprint completed Figure 5 Sprint 2 Product backlog example VIDEO COACHER Tel Catch 21 22 05 2014 Project Documentation Version 3 0 3 5 Milestones There will be several milestones during the project obvious milestones are each of the presentations the document deliverables color tracking multithreaded code working stepper motor video stream delay record replay and the end of each sprint period 3 6 Burndown chart Another good tool used regularly in Scrum and Agile oriented methods shows the time deadline versus amount of work left i e left in the sprint backlog Scrumwise provides us with Burndown charts for each sprint as one of its prominent features This lets us see a projected date of completion and a prognosis of the amount of work hours needed to finish each sprint Sprint 1 Figure 6 Scrum Burndown Chart VIDEO COACHER Fer Catch 21 22 05 2014 Project Documentation Version 3 0 4 Financial From the customers side of view the corporate view some investments will have to be made Our project is inextricably linked to what size of investment Tanke og Teknikk is willing to make Any kind of financial restrictions are likely to mean that compromises will be made on the product itself Considering this we have drafted a proposed budget which has since been approved by Jan Dyre at Tanke og Teknikk VIDEO COACHER Trek Catch 21
168. printer Can be designed and printed out in less than 24 hours Relatively low cost VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Negatives e Limited choice of material e Rough finish Summary Good way to make nice casing Possible to redesign and make new version over night Make a nice touch to the wrist band controller Alternatives The casing can be made in different materials using different techniques To make a functional prototype of this kind 3D printing is a very good option VIDEO COACHER Fey Catch 21 22 05 2014 Project Documentation Version 3 0 Progress so far We have done research bought parts been developing 3D drawings and circuit schematics for making a Wristband Controller This enables us to make a working prototype before our projects final presentation And it should look neater than this example of a wearable vor mm PTa mr Figure 73 Wearable Prototype from www techmog com VIDEO COACHER Frei Catch 21 22 05 2014 Project Documentation Version 3 0 8 Study of Motorized Slider Systems VIDEO COACHER eit Catch 21 22 05 2014 Project Documentation Version 3 0 Introduction The purpose of this study is to find and compare camera slider systems or builds that are available on the market and to help us decide which one to go for The type of slider we need is e Long o longer than 1m preferably close to 2m Motorize
169. product was conceived Software decisions were taken like multithreading which libraries and languages to use Hardware components like engine servo microcontroller and single board computer were also chosen 54 If you are unsure of the difference between waterfall and iterative methods please see http en wikipedia org wiki Agile software development VIDEO COACHER lt i Catch 21 22 05 2014 Project Documentation Version 3 0 The Middle Phase The middle phase started shortly after here most of the physical building of the product was done With some parts in hand the electrical engineers started up the construction with rails and motors and camera unit Software engineers started working on capturing and storing images with a camera as well as processing them In collaboration we managed to get the controllers for the rig engine up and running Later we managed to control the camera unit using a PlayStation 2 Controller We got the computer talking to the motor driver via a serial connection sending data across it Software color detection was implemented alongside 3D printing a casing for the exposed parts There were of course struggles during development most noticeably the low software resource efficiency and the noise and speed issues of the rig All of which we solved and implemented into the Video Coacher product in the end The 2nd presentation and its deliverables led us to focus on the documents once again Once
170. r motor Decided to control speed and direction with one pot meter Found it difficult to do this with the standard Arduino stepper library so created my own code Used leds to verify that stepper sequence were correct Results Able to control speed and direction with pot meter w comments Unanticipated voltage drop due to current saturation leading to poor performance and unpleasant noise Lab PSU limits current so that motor and driver are not in danger of getting overloaded but still is a problem that must be solved Tested By ystein Test Report 8 Motor Control Test VIDEO COACHER 3 Catch 21 22 05 2014 Project Documentation Version 3 0 sm 1 BBT Functional Dynamic Description Before rig can operate autonomously we want the ability to manually control rig operations with a remote controller This will be a temporary control solution for testing and demonstration purposes only Go EE Acceptance Ability to dynamically control rig operations without accessing console or Griteria programmed complex demo runs Approach We chose to use a PS2 controller because how to implement it is known to us Added support for controller in control code Results Passed w comments Able to control both servos and motor with controller Receiver induced a bit of noise in the control circuit causing pan servo to flicker back and forth ever so slightly PS2 controller is not part of the final system so we ignore this Tested
171. ra and the tilt servo VIDEO COACHER Fell Catch 21 22 05 2014 Project Documentation Version 3 0 e After printing we did some small adjustments to the printed model o Made more place for cable for the lower servo o The disk part two needed a 8mm hole and two 2 mm holes to fit to the servo o The screw holes in general had to be made bigger o Made a new hole in the back of the camera mount which fits both servo cables but not the camera cable e Test results test ID 36 o Itis more stable o Less vibration o Looks more proper e The camera mount is based on the Lynxmotion Pan and Tilt Kit w two HS 422 servos o Link http goo gl rY2rxd e The Camera Mount is made for the possibility to use other camera which has a standard camera mount hole We have only tested the Video Coacher with the Logitech C920 camera used in the Video Coacher setup VIDEO COACHER 22 Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 3 Stepper Motor The Nema17 stepper motor is covered in the Stepper Motor Technical Document The main reason to use a stepper motor in Camera Rig is the possibility to have an open loop control of the Camera Mount movement and placement on the rig Main Component 4 Tripods To make the Camera Rig portable and height adjustable we added two tripods made for camera and video equipment The tripods are connected to the end mount of the rail with standard 4 20 unc screws which can be tig
172. rate of the qt opencv multithreaded example is also 30 fos 800x600 VIDEO COACHER as Catch 21 22 05 2014 Project Documentation Version 3 0 V6 At 640 x 480 I got an average frame rate of 23 fps on the input stream and 13 fps on the processed stream The difference is lower than expected and the rate is a bit low V7 Tested at 640 x 480 resolution and got an average frame rate of 29 5 fps on the input stream and 13 fps on the processed stream Tested By Jacob V1 4 Brian V1 4 Even V5 7 Christian V5 Date V1 7 3 2014 V2 21 3 2014 V3 23 4 2014 V4 2 5 2014 V5 6 5 5 2014 V7 7 5 2014 V1 6 Failed V7 Passed Test Report 11 Make Current Software Multithreaded V1 7 Catch 21 22 05 2014 Project Documentation Version 3 0 Name Color Recognition V1 2 Test ID 26 41 oe EE Test Level Unit Description Software shall detect instances of a specific color represented in a picture and where in the picture it is located V2 Added filter which removes noise from the picture Changed acceptance criteria Acceptance Software detects instances of a specific color represented in a picture and finds Criteria the location in the picture it is located V2 Only large objects the detected object is detected by the final detection algorithm Approach Tried on different computers and different cameras V2 Tried different backgrounds and different objects also compared to older ver
173. rated units interact with other units of an existing system or subsystem and we seek to verify that the interfacing and pathways between them are correct and behave the way they should Integration tests are done iteratively i e every time we add something new This allows us to identify bugs immediately as well as being able to placing them in relation to a specific incident Functional tests at the integration level may often be the same ones used at the unit level except that real data inputs from other units is used instead of dummy ones System Testing This is the highest test level of the developmental stage where we test the full system for all its current functionalities This level is also where we verify that it works according to the requirements Tests at this level will mostly be functional and performance oriented by running user scenarios and we do not anticipate having to look at source codes at this level Acceptance Testing This is the highest level of testing where we present the latest fully tested version of the product for our client and where the product has at least one new or enhanced function Until all high priority functions have been completed the product is considered an alpha We intended to conduct one acceptance level test at the end of each sprint but have not been able to fulfill this goal The acceptance tests were intended to help us verify that the product was being developed in accordance with the r
174. re inefficient is that dividing focus between the mirror and executing a pattern while concurrently fixing it is very difficult It is the multitasking demande of mirrors that prevents them from being used as tools for many areas of practice Juggling Trainers are usually employed by circus schools long term as well as by workshops short term There is a very good reason for this Professional juggling teachers often have extensive experience both with practicing juggling themselves and are familiar through teaching experience what they can do to improve the quality the of juggling practice sessions of their students In addition they often help jugglers to learn and develop new patterns moves and techniques Unfortunately professional juggling trainers are only available to a very small fraction of jugglers and only for the time these attend juggling school or the workshop in question even then time will have to be divided amongst several students Outside circus schools limited availability and high costs are often factors that make using a professional juggling trainer prohibitive for most jugglers Video Cameras are now in use in almost every form of physical training to do reviews improve technique or discover errors The three main advantages of video is first that the juggler gets an external precise view of himself Secondly the video can be watched separated in time from executing the pattern Thirdly the feedback can be repeated Th
175. rful rechargeable battery and bought it together with a matching charger e Lithium lon Polymer Battery 3 7v 500mAh o Link http goo gl xkd6IT e Adafruit Micro Lipo USB Lilon LiPoly charger o Link http goo gl zxs9ZG VIDEO COACHER eik Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 4 Circuit with circuit schematics e One of our customer main requirements is a circuit schematic This is an important part of the deliverables for the product The schematic gives the customer a better understanding of how the Wrist Controller is built up and might be useful for troubleshooting and further development Catch 21 TITLE Wristband Document Numbers Date 15 85 2014 19 23 05 Figure 71 The Wristband Circuit Schematic VIDEO COACHER lt 7 Catch 21 22 05 2014 Project Documentation Version 3 0 Main Component 5 Casing with wrist strap Description We are designing a casing in Solidworks and are going to 3D print it at the HBV college The final 3D drawing will be made avaible at our website videocoacher com The strap is taken from an old iPod sleeve it is in good condition and comfortable to wear Figure 72 The 3D design of the bottom plate with sockets for A Bluefruit Ez Key B Battery Slot C Charge pin sleeve D On off button Positives Our own design We could use the college s 3D
176. ries usann sans 166 VIDEO COACHER fA Catch 21 22 05 2014 Project Documentation Version 3 0 List of Figures Figure 1 Processing Deviees nassen 123 Figure 2 Central unit e e EE 126 Figure 3 Motor el 127 Figure 4 UML Class Diagram of Central Unit kee 129 Figure 5 Control Unit Class Diagfan sn 140 Figure 6 Control unit Schemata eeeee en 145 Figure 7 Map of external Eonnecelians encnn en 148 Figure 8 Proposed PCB layout designed in Fritzng AEN 149 Figure 9 Foot controller schematic snrrnrnnnrnvnnnrnnvnnnnnnnvnnnnnnvnnnnnnvnnnnnnnnnnennnennrsnnnnnrsrnennresnennree 150 Figure 10 Wristband EE 152 Figure 11 Assembly view of the Foot Controller casing sssssesssessserssesssrssesrsersrersrrsersrssesns 156 Figure 12 Concept drawing of current design 157 Figure 13 Bottom plate featuring deadicated slots amp sockets for A Bluefruit Ez Key B Battery C Charger amp D On Off Switch een 158 Figure 14 Servo Housemodel nenenee en 159 Figure 15 Servo House mounted on the Camera Ho 160 List of Tables Table 1 Possible values from 300 to 600 pm 144 Table 2 Arduino pin map EE 146 Table RMN 147 VIDEO COACHER PP Catch 21 22 05 2014 Project Documentation Version 3 0 1 Top Level Design This chapter gives an overview of the main parts in our system and their functions More detail and technical information will follow in chapters 7 10 The following diagram Figure 1 Processing Devi
177. rk required to fulfill the different duties within a role area From the start we should have kept work logs for each task to compensate for not documenting all the time instead of doing it only in our separate documentation sprints Even more time could be used in getting to know Scrum estimates were frequently a bit off That could indicate that we did not have sufficient experience to handle Scrum as efficiently as we would have wanted What we wished the college would have done Given us more time during the start phase of the project this would have helped getting to grips earlier with what the project entailed and time to prepare Given us information more gradually We believe that having the project course over two semesters like the college did earlier was a better approach for the students to better achieve the learning goals VIDEO COACHER Trek Catch 21 22 05 2014 Project Documentation Version 3 0 3 Project Execution 3 1 Work Method We implemented Scrum as our project framework gt and are very satisfied with our choice Using Scrum as a framework for this project was very fitting in our opinion We all embraced Scrum from the start and it felt very useful and almost indispensable very early on However once we got more into the project work it felt like Scrum didn t fit into what the college expected us to deliver in regards to documentation We ended up almost doing double work on some of the documentation b
178. rom the HBV college and advisors throughout the project But as a project group we are responsible for driving the project to completion as well as deadlines budget communication with the client and all other project responsibilities The college has collaborated with the company Tanke og Teknikk so as to give us a real client and increase the project approximation to an actual work situation The client Jan Dyre Bjerknes at Bjerknes Tanke og Teknikk required a system to help with self review when practicing juggling technique The client also wanted the system to assist him during lectures He uses juggling as a means to inspire students to take an interest in scientific subjects The system that we developed is called the Video Coacher this system uses video feedback and processing to achieve the requirements we have been given by our client To avoid any confusion while reading the documentation we think it is important to explicitly describe the difference between the project we are doing and the product we are developing Our project name is The Catch 21 Project this covers our project group and the work that we do The product name i e the actual physical system we are developing is The Video Coacher Our group used Scrum as a framework Scrum is generally light on documentation However in our project the documentation and engineering practices matter more to the college than the actual product Some modification in ho
179. ronics VIDEO COACHER Fler Catch 21 22 05 2014 Project Documentation Version 3 0 H Scrumwise Sprint and Burndown Overview VIDEO COACHER se Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Scrumwise Sprint and Burndown Overview Version 1 0 Version Date Changes in document Responsible 1 0 21 05 14 Created document Brian Formatting Jacob amp Brian Name Signature Brian A Opedal Jacob N Berntsen Even H rtvedt Christian Thue Eyvind Nistad ystein rsnes VIDEO COACHER RE Catch 21 22 05 2014 Project Documentation Version 3 0 Scrumwise Sprint and Burndown Overview This document contains an overview over the PBI s for sprints 9 to 1 as well as Burndown charts for these sprints The reason sprint 10 and 11 are not included is that the document deadline comes before the start of both these sprints VIDEO COACHER Rd Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents Aske U EE EE 195 1 Scrumwise Burndown Cvervlew tet 196 2 Scrumwise Sprint Overview ENEE 205 ES 1 gt EN EE NE 214 List of Figures Burndown Burndow Ghart 1 Sprint EE 196 Burndown Chart 2 Sprint EE 197 Burndown Chart 3 Sprint Lava 198 Burndown Chart 4 Sprint E 199 Burndown Chart 5 Sprint a en ee ea 200 Burndown Chart 6 Sprint E 201 Burndown Chart 7 Sprint cx savass
180. rrrnnnonnnnnonnnrnnnnrnnrrnnnnnrnnnrnnnnennrrnnsennvessennrnrnnssennrnnesennnrnesee 167 G Distribution of Assignment and Responsibilities nennen 182 H Scrumwise Sprint and Burndown Overview rrrrrrrrrrrrrrsrseererererrrrrrrsssrrsesersserensnsnsesesessrssssssnr 192 Sales Information Document ssssssssesssssessitsssesrrrnssrirrsstrsssttnssstttsssttttttsstttnsstttnssstnnnsstnnnenet 215 J User MAN TEEN 227 K Service and Development Manual 244 L Technical Documents 258 M After Analysis Document ea 327 VIDEO COACHER Te Catch 21 22 05 2014 Project Documentation Version 3 0 Glossary and Acronyms Name Description Framework for projects based on Agile Ser development philosophies Scrumwise Scrum software tool used to manage the project Sprint Scrum Fixed period of time where work is p broken down into distinct tasks Adile A set of iterative adaptive and collaborative H software development oriented methods PBI Product Backlog Item Siteswap Mathematical system for describing juggling VIDEO COACHER P Catch 21 22 05 2014 Project Documentation Version 3 0 Project Description This project is the last part of our bachelor degree and is intended to be a part of the transition from college education over to an actual work situation For this reason the project work is intended to be as close as possible to a real engineering project We will still have support f
181. rs None of these steps have been fully successful and we had further work to improve here We achieved most of our goals although the PBI 76 of putting everything together was not fully achieved The reason was mostly that the threading part of the code was not fully functional VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Summary Sprint 5 Sprint 5 was a documentation sprint which also included our second presentation The major challenge in this sprint was scheduling time concerning revision of documentation and managing to get enough time to prepare for the presentation PBI 37 Assemble Project Management Plan v2 We reassembled and updated the PMP A challenge here was that some of the formatting delivered from the other documents to the PMP were incorrect and had to be redone One document was less complete than anticipated This led to formatting and assembling taking longer than expected and we passed our internal deadline with a risk of exceeding the college deadline as well We solved this by throwing extra hours at the PBI PBI 91 Make and Deliver Physical Deliverables In one version of the produced documents notes on parts of the backlog documentation were included in the printed version in error These were removed in the following printouts A DVD was made without any issues because we had done some preparation in PBI 90 The Project Management Plan itself barely fit into the plastic f
182. ry Good OK Version 3 0 Moderate Very good OK Heavy 285 Catch 21 22 05 2014 Project Documentation Version 3 0 Summary Initially we were very positive towards the GoPro White camera as it delivered the best performance and picture quality by far However when it came to streaming we could not find any confirmation of it streaming over USB Also the field of view was way too big there was an available hack to fix this where you could buy a new expensive lens and modify the camera and void any warranty in the process and get a good field of view which would suit us However we decided against this as it was way too expensive The reason the GoPro cameras are tagged as lag on requirement no 7 is because we could have used the GoPro s to stream wirelessly but sources said that it was laggy and short range After scrapping the idea of GoPro and filling out the comparison chart it became clear that standard web cameras were best suited for our use although if the budget had been much bigger we probably could have found a solution for cameras with better quality Conclusion After initial research and comparison we ended up with two very similar cameras After some more digging we found out they were pretty much the exact same camera but C930e was compatible with apple computers and had a 4X digital zoom They also cost the same 849 but C920 had a Linux driver that was known to work gt wh
183. s Acceptance The user can see a visual criteria representation of his beat pattern on the screen There should also be a visual representation of what should be the current beat based on the average beat Comments Table 17 ID 38 VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 ID 41 Color Recognition As a user want system to be able to detect certain colors so it can track them So I can wear a certain item and the system will be able to know where I am in the frame Story Points 16 Acceptance When the camera is filming the criteria system should be able to detect a given color and where in the frame it is located Comments Table 18 ID 41 ID 42 As a developer Story Points 16 Video Stream want the system to be able to Interface handle data coming from the webcamera So I can access and manipulate the video stream Acceptance Using the interface one can criteria output the incoming data stream as well as save it to file Comments Table 19 ID 42 ID 43 As a developer Story Points 12 Tilt amp Pan Servo want to be able to operate the Interface servo s through software code So I can create an automated system using servos Acceptance One can enter parameters to the criteria interface and it will move the servo s in the correct manner Comments Table 20 ID 43 VIDEO COACHER EG
184. s a light and quite portable system and can be set up almost anywhere with very little time required The Video Coacher can be used successfully in dance and several kinds of circus arts training Sometimes you just need more and this is where Video Coacher Pro enters the stage The Video Coacher Pro has been a proposed product to be developed if the Video Coacher turns out to be successful The pro version of the Video Coacher is meant to be a more complete system mounted on a circus or dance school or gymnastic Centre wall It is made to track anything that is thrown at it be it swinging trapeze flying trapeze Chinese pole acrobatics or teeterboard It can be set to cover only a specific area of the hall where it is installed and with the heavy duty camera and quality optical zoom you are sure not to miss any detail no matter what you have set it to cover or how fast it moves With the Video Coacher Pro you also have the option of setting up a second and or third camera covering two walls and a ceiling or three walls and showing feedback on several projectors letting the users watch the angle they are most interested in 5 Video Coacher from Prototype to Product Currently the Video Coacher is a working prototype and not available for commercial sales What can you do to get one in your hands as soon as possible Well thank you for asking There are several things you can do e Contact Tanke og Teknikk via www tankeogteknikk no and let them
185. s and get the working within different w comments objects with objects creating child threads several levels Changing our current code with record and replay into threaded code have given us some issues with instability It sometimes works and sometimes does not work when running the code Why the code doesn t work is not determined V2 There was no change from the previous version of code The program ran in the same manner and we had the same frozen images on replay and record V3 There was no change from the previous version of code The program ran in the same manner and we had the same frozen images on replay and record The errors were VIDIOC_QUERYMENU Invalid argument QObject moveToThread Widgets cannot be moved to a new thread QPixmap It is not safe to use pixmaps outside the GUI thread xcb Unknown request in queue while dequeuing xcb Most likely this is a multi threaded client and XInitThreads has not been called xcb Aborting sorry about that Test V4 Threading has turned out to be larger challenge than anticipated currently we have only gotten very basic code to run successfully with QT Threads V5 At 800 x 600 got an average frame rate of 19 5 fps on the input stream and 9 8 fps on the processed stream This is a bit low When comparing with GUVCVideo at 800x600 the fps is 29 5 30 This indicates that our code is a bit slow and it might be caused by the controller design of the multithreading The frame
186. s if tasks are actually done If tasks are not done they are moved back to the to do lane and will only be included in the next sprint if the PBI they belonged to is included The Scrum master and the product owner work together in this meeting to make any feedback from the client into workable backlog items The backlog is sorted continuously and PBI s that add most product value move to the top of the product backlog Sprint Retrospective Meeting This is the last meeting of the sprint it is held so that the team can think about and improve the manner in which the work was done Backlog Refinement Meeting A meeting which is held to divide the backlog items into sizable tasks The goal is to divide PBI s into tasks that are 8 hours or less for one person to execute The meeting is held as a preparation for the Sprint Planning Meeting Catch 21 22 05 2014 Project Documentation Version 3 0 5 3 Documentation and Code Standards The documentation standard is upheld by the document responsible it is his responsibility to uphold and maintain an overview of all the documents included in the Project Documentation We use a similar approach for programming so that the code produced is easily readable and correctly commented For a detailed description of the Documentation and Code Standards see annex F 5 4 Areas of Responsibility Our goal is that everyone is included in both administrative and technical work Since we have a
187. s it will be used to keep track of the user throughout his her practice We decided we would look at a wide variety of cameras including action cameras IP cameras and web cameras We also wanted to be able to get our hands on the camera reasonably fast so we only looked for cameras available at www komplett no and www dustin no VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 Criteria In order for the camera to suit our needs we set the following criteria Critical requirements D It should film at a rate of at least 30 fps The reason for this is because if it films at any slower rate it would be problematic to keep track of a user when applying motion tracking through software With 30 fps we can also get decent slow motion footage The camera should be able to stream video live over USB The camera can be controlled through USB thus no need to tamper with the camera during use of the system The cameras resolution should be at least 720p but preferably 1080p Field of view has to be one that fits well with the camera being placed 2 4 meters away from the target The camera has to capture movement well enough for motion tracking to be possible Live streaming video should be lag free Soft requirements 8 The camera has to be low weight preferably lower than 500g and quite small This is due to the placement which will be on a movable platform where the weight might impair the efficien
188. scription of each document and information about their placement in the annex 1 Requirements Specification In our project we are using Scrum as a framework In Scrum it is normal to use something called a product backlog In Scrum the backlog document is equivalent to the requirements specification in a classic project management plan The backlog contains all features that are of value to the product including but not limited to the items you are likely to be able to implement during the project All features bug fixes and non functional requirements can be added to the backlog This document is found in annex A 2 Test Plan amp Specification The test plan plan document contains explanations of different kinds of tests It also explains a variety of test strategies The test document also holds all project test cases and their results This document is found in annex B 3 Project Plan The Project plan covers the objectives of the project project variables deliverables resources quality assurance project framework activities and milestones Basically this document discusses all affairs in relation to planning and execution of the project This document is found in annex C VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 4 Risk Analysis The Risk Analysis document covers the general risks we might expect to encounter during our project It also discusses possible ways to mitigate or avoi
189. sfy our client s requirements by creating a prototype which will be superior to similar products We will do this by focusing on these three areas e High repetition self training e Low repetition self training Lecture demonstrations of live juggling The project plan will help the project group understand the tasks that are required to complete the project And it will help them understand the project goals as well as their own roles in the project environment For advisors the document can be used as a help to discover issues that may arise before they become impediments To the client it is a document that can clarify if the group and the client have a common understanding of the work that is to be done And for supervisors this document is meant as one of several documents used to evaluate if the project members are achieving their learning goals Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents Glossary NIE EE 82 POE Scope nee 83 1 1 Project e ET 83 1 2 Project ere 83 1 3 Project Deliverablas uuuennnen ke ee 85 Ee e 86 reel 18 1 gt EE TIEERE 86 3 1 Gantt Diagfal anne 86 PENE serere eu eee eee ee eee 87 3 3 Estimated amount of haus 88 EE ee RE EEE eee eee eee 89 3 5 MENES ege eege 92 OUI een CHAR E 92 NR 93 5 QUAY EE 95 5 1 Classic Geer Te CC 95 5 2 Scrum Ee RR EEE EEE eee ees 95 5 3 Documentation and Code Standards 97 5 4 Areas of Responsibility enrrnvrnnvnnnnnnvnnnnnnrn
190. shed but intended for final build will have a comment describing their status as of writing the final version of this document they will usually be PBI s that we have begun but might not be able to finish in time to include them in our final presentation VIDEO COACHER Fi Catch 21 22 05 2014 Project Documentation Version 3 0 Product Backlog List of Tables Table VIDESTE 18 Table 2 IDE E 18 El 1 EE an ee 19 Table 4 EE 19 Tabe le EE 20 El PI 20 TADE 7 IDE Ve 21 Ee 1DI20 sass ee ae ee a a 21 Table 9 ID ag ae ee eee eee 22 Table TO IDE TS E 22 Table TIER I EE EE 23 Table 12 IDE 19 ee I ee 23 Table 13 IDE E 24 Table TA ler 24 FF aa Feo pam BD io EE 25 Table 16 IDE EE 25 Table 17 ID gt cr 25 Table 18 SDF 41 WEE 26 Table 19 1DH42 ee e 26 Table le ES E E Ea A a iaaa 26 Table 21 IDEAA EEN 27 Tabl 22 1DH 46 000 a an ge nn ee ee nee ee 27 TapE 23 DETT be 27 Table 24 DE es ee 28 Table 252 IDE EE 28 Table 26 B20 0am ree re ee a nee 29 Table 27 IDF 52 ee ee 29 Table 28 IDF SA ee oe ir 30 Tape ba EE 20 Table 30 DEL a ee on ne ee ee ee 30 Table 31 TR 31 TablE3221DH OS EE 31 Table 1D466 ae 31 Table 34 IDF 68 sn 32 Eelere EE 32 Table 36 DH 78 use 32 Tabber PFG 33 Table B DEG 33 Catch 21 22 05 2014 Project Documentation Version 3 0 TEEN 33 TENNE rv 34 Table 41 PN 34 TEDE IDE 103 eu ee ee een 34 TET 35 Te AD 106 en 35 Table HD Teie 36 VIDEO COACHER ii Catch 21
191. sions Results V1 Success The system will detect a color calculate where the average w comments centre is located resulting in the centre of the tracked object if there s little noise and interference Printed coordinates to terminal V2 Success There is no longer noise in the processed picture and only large objects of similar color to the one tracked will make it through the filter 712014 2814 2014 Test Report 12 Color Recognition V1 2 VIDEO COACHER a Catch 21 22 05 2014 Project Documentation Version 3 0 Name Test ID Story ID PBl Task Test Level Test Type Description Changes Acceptance Criteria Approach Results w comments Tested By Date Result Odroid to Arduino Communication Testing interface for sending data to Arduino over emulated serial connection Sent data string with ints from Odroid to Arduino Converted from char array to int and added the ints together Sent result from Arduino to Odroid Receive correct sum from Arduino Wrote custom Arduino sketch to receive data from Odroid to the the interface 6 3 2014 Test Report 13 Odroid to Arduino Communication Catch 21 22 05 2014 Project Documentation Version 3 0 Name Test ID Story ID PBl Task Test Level Test Type Description Changes Acceptance Criteria Approach Results w comments Tested By Date Result Interrupt based Motor Driver with Input 79 not able to get
192. sprint 4 VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 PBI 73 Create Interface for Arduino and Odroid The Arduino rebooted every time a new connection was made through the serial interface This was solved by placing a capacitor between the Arduino s reset and ground pins PBI 41 Color recognition Our system was very sensitive to changes in the lighting conditions this has remained a challenge Summary Sprint 4 This sprint had a short duration and our four software engineers were bound up much of the time with aWeb Science project Having encountered challenges with implementing threads in the earlier sprint made us quite pressed on time The solution we went for was to make a small amount of PBI s for the software team We also assigned less hours to the sprint We aimed to do a limited amount of work but still have something put together that could be shown at the 2nd presentation We still had issues with the motor drawing too much current but decided to attempt solving it by cutting the coils off before saturating just feeding them long enough to complete a step Also using PWM was considered We were not able to successfully implement it at this stage as it would require a smarter stepper library something the software engineers were unable to assist with during this sprint We also encountered several issues with implementing threads but have taken steps to eliminate the sources of erro
193. strate that the product can be viable before potentially investing more resources VIDEO COACHER Frei Catch 21 22 05 2014 Project Documentation Version 3 0 1 3 Project Deliverables The project deliverables can be divided into 3 parts Part One Documentation Deliverables During the project we will produce a collection of project documentation This documentation will be delivered as a part of the college s requirements for the bachelor project Part Two Presentation Deliverables There will be 3 presentation deliverables in relation to the bachelor project e 1 Presentation o Date Thursday the 13th of February o Place HBV o Meeting room Pre and post meeting room D247 15 00 15 20 16 00 16 20 o Presentation room amp time C107 15 30 16 00 e 2 Presentation o Date Friday 4th of April o Place HBV o Meeting room Pre and post meeting room D247 15 00 15 20 16 00 16 20 o Presentation room and time C107 15 00 15 30 e 3 Presentation o Date Friday the 6th of June o Place HBV o Meeting room Pre and post meeting room D354 13 30 14 00 15 00 16 00 o Presentation Auditorium and time B120 14 00 15 00 VIDEO COACHER Fr Catch 21 22 05 2014 Project Documentation Version 3 0 Part Three Product Prototype Deliverable The third part of the deliverables is the Video Coacher system Our client expects us to deliver an actual working prototype of a system which can be used for training
194. t The challenge here was that the delivery date for the documentation was before the project completion date Normally an after analysis document is written when a project is completed Delivery date for all documentation was the 26th of May and project completion date was the 6th of June This was an issue that came up for several documents We decided to solve this by writing documentation that included what we knew at the time of writing and to include our plans and projections for what we didn t know Projections Summaries for Sprint 10 and 11 Sprint 10 and 11 challenges would likely be things like managing to complete our prototype and make it presentation ready Also making and practicing the presentation material in the time left We planned to use a mock up practice presentation since that worked well for the 2nd presentation This time we wanted to include both internal and external advisors so we could get even more advice than the last time Practicing with advisors present will add an extra bit of realism to the mock up presentation If possible we will book the lecture hall B120 for the mock up to get familiar with presenting in the large space This also gives us the opportunity to test the Video Coacher in a new environment 4 Conclusion As we have seen there are several real and present risks that put our project and product in danger but there are also risks that present opportunities to add product value In regards to
195. t into standard USB port Turn On To be able save power between use and to extend battery life beyond 20 hours we have added a power button that will turn the wristband on and off Pairing Before you can use the wristband for the first time it must be paired with Odroid Inside the wristband on the Ez Key component there is a pair button You can access the button either through a small pinhole on the casing or by removing the top lid Once paired it should automatically pair the next time but if it for some reason fails to connect you can hit the pair button again to request new pairing Remapping the Buttons over air The ASCII codes sent from the Wristband can be remapped over air This is useful if you need to change the ASCII codes sent from the Wristband to the Central Unit Instructions are available at Adafruit 30 https learn adafruit com introducing bluefruit ez key diy bluetooth hid keyboard remapping the buttons wireless VIDEO COACHER ERE Catch 21 22 05 2014 Project Documentation Version 3 0 Further reading More information about the wristband is found in Wristband Tech Document and Construction Document 2 5 Foot Controller The foot controller is meant to be the main human interface between the user and the central unit of our product With the Foot Controller the user should be able to control all main functions of the system with his feet Main Foot Controller components e Arduino co
196. t was originally borrowed at the college but we have since acquired our own Even though implementation of the driver was pretty straightforward there has been challenges making sure that it does not overload Because the driver by itself does not automatically regulate currents it has been up to us to figure out how to do it There are of course more sophisticated motor drivers available which do this automatically but they are more expensive 39 https www sparkfun com datasheets Robotics L298 H Bridge pdf VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 How we solved it was to pulse width modulate PWM the enabler gates for the motor coils effectively lowering the voltage that the motor gets exposed to when running at rpm s were the danger of overload has been present This pertains to low rpm s less than 100 where the inductive motor coils have enough time to saturate In order to use PWM for this purpose we had to increase the Arduino s native pulse width frequency to a frequency outside the human audible range We did this by modifying Arduino s timer2 scaler and another benefit from adjusting this timer was that we were able to increase the frequency at which we could issue step commands enabling us to double the motor top speed from 300 to 600 rpm when providing 20V capped at 2A The ability to control current was an absolute requirement before switching from a safe lab PSU to a ge
197. tation Version 3 0 Main Component 1 Microcontroller Unit We chose to use an Arduino microcontroller since our customer Tanke og Teknikk is a supporter of the open source community Arduino Compatible Nano 3 0 HBV College Version Description This microcontroller is very similar to the Arduino nano but is not an original Arduino product In other aspects it is not really distinguishable other than that it is not called Arduino but rather Arduino Compatible Link http goo gl GHdd2i Positives Figure 58 Arduino NANO Good support library Open source On board power supply 3 3 V 50 mA Breadboard friendly Bootloader makes it standalone Negatives e Few UO pins VIDEO COACHER 28 Catch 21 22 05 2014 Project Documentation Version 3 0 Tech Details Microcontroller ATmega328 Operating Voltage 5V Digital I O Pins 14 of which 6 provide PWM outputs Analog Input Pins 8 which can be used as digital I O pins DC Current per I O Pin 40 mA DC Current for 3 3V Pin 50 mA Flash Memory 32 KB SRAM 2KB EEPROM 1KB Clock Speed 16 MHz USB 2 0 B connection Summary Based on the same microcontroller as uno Is not mounted on a breadboard which made it necessary to design a custom breadboard The rather limited number of I O ports did force us to design choices VIDEO COACHER lt i e Catch 21 22 05 2014 Project Documentation Version 3 0 Alternatives Arduino Mega 2560
198. te A E 105 CH EE 106 un and NN 109 3 Previous Sprints Challenges and Solutions rrrnnnnrnnnonvnnnrnnvnnnnnnnvnnnnnnvnnnrenvnnnrenrnnnrsnresnrenn 109 Eeg IS ION ERR EEE EE EE EM ER EE NE 116 2 EE 117 Glossary and Acronyms Name Description Sonim Framework for projects based on Agile development philosophies Scrum Fixed period of time where work is Sprint broken down into distinct tasks PBI Product Backlog Item VIDEO COACHER fos Catch 21 22 05 2014 Project Documentation Version 3 0 1 Risk Analysis Overall Risks There are mainly 3 areas of risks in regards to our project Scope Risks Scope creep is a risk One example of this is when the client demands additional features that makes the project group fail to fulfill the project end goal and its deadlines Group members wanting to add nice to have features taking time and resources off the main features Features that the product needs to fulfill the requirement specifications Unclearly defined or incorrectly understood deliverables Causing the project group to fail to deliver all expected required documentation Or causing them to deliver incorrect documentation Risk of not understanding what the customer wants i e unclear requirement specifications This can lead to the project group delivering a different product than the one the customer asked us to build Risk of our client changing his mind and wanting a different produ
199. that our project is not as dependent on this high level of precision control that we initially thought i e it does not matter much to us where our camera is positioned so long as it is in the general area of where the target is What ultimately have mattered most to us have been the system s response in relation to speed acceleration and smoothness of operation It has been challenging to make the stepper motor run as smoothly and as quickly as we needed it too more so than what a DC motor would pose perhaps but most of these challenges have been overcome and the motor is now performing in accordance with our needs Figure 47 Bipolar Stepper Motor Wiring Diagram 36 Computer Numerical Control VIDEO COACHER voie Catch 21 22 05 2014 Project Documentation Version 3 0 Controlling the Motor There are different kinds of stepper motors and there are many ways of controlling them Common for all stepper motors though is that they are controlled with timed pulses and that one pulse equals one step command whether that step actually is a full step half step or a micro step Bipolar Bipolar stepper motors are among the most common stepper motor types They have two windings standing perpendicular against each other with two leads each The four leads are activated in sequence by timed pulses and will create a shifting magnetic field that pulls the rotor one step further every time the pulse changes Figure 4 below illustrates the
200. that was over we established a dynamic website on the college server and we added a fair amount of content on itto Our main focus then shifted to putting parts together and creating the foot controller The Finalization Phase In the final stages of our project leading up to our 3rd presentation we planned to work mostly on documentation which must be delivered by 26 05 14 to the college At the start of this period group members were given responsibilities over different documents needed for the last delivery Making sure that all the documents are relatively uniform and making them ready for delivery falls on tne member of the group holding the position of document responsible VIDEO COACHER lt i Catch 21 22 05 2014 Project Documentation Version 3 0 3 3 Quality Control During the project quality has been upheld by the Scrum meetings regular meetings a standards document for source code and document formatting gt In addition we assigned areas of responsibility to group members In collaboration with our internal advisor our group developed a quick way to document testing We also used the tool called Scrumwise Scrumwise can be found at www scrumwise com and has its own test column which we found quite useful 3 4 Cooperation Overall the cooperation inside the group has been very successful seeing each other everyday atthe Scrum meeting and reporting progress and impediments when they arose Most decisions wer
201. the possibility to run at these rpm s from 300 to 600 rpm VIDEO COACHER 6 http playground arduino cc Main MsTimer2 Catch 21 22 05 2014 Project Documentation Version 3 0 Rpm Delay between steps 300 1 00ms 315 79 0 95ms 333 33 0 90ms 352 94 0 85ms 375 0 80ms 400 0 75ms 428 57 0 70ms 461 54 0 65ms 500 0 60ms 545 45 0 55ms Table 52 Possible values from 300 to 600 rpm If something in between these values are given the faster is chosen VIDEO COACHER 27 Catch 21 22 05 2014 Project Documentation 4 Electronics 4 1 Control Unit SB to Odroid Version 3 0 Diodes D1 to D8 are 24 fast type Schottky preferred VF 1 2V 24 trr lt 200ns is suggested Figure 12 Control unit Schematic Catch 21 TITLE Actuators Control Circuit Document Number REV Date 19 85 2814 16 01 46 Sheet 1 1 This schematic show the wiring of the control unit It communicates with and is powered by Odroid over USB It manages the rig actuators which include one Stepper Motor and two servos and it receives input from two end switches that calibrate camera position upon contact The motor is powered by a separate power supply VIDEO COACHER FS Catch 21 22 05 2014 Project Documentation Version 3 0 Components Arduino Nano microcontroller Pin Function 5V Supply vo
202. the product specifications and design standards as well as being fail checked before unit integration and ultimately final product delivery The tests to pass for this project and the methods to test by will be presented in this document The purpose of testing can be summed up by two words Verification and Validation Verification involves confirming that the system complies with the specifications whereas validation entails confirming that the system performs according to customer expectations H validation fails it is not necessarily because the system is broken but rather that the specifications were not correctly defined to begin with If however verification fails it would result of a design error or mean that the system is broken incomplete or otherwise unusable VIDEO COACHER 2 Catch 21 22 05 2014 Project Documentation Version 3 0 2 Test Methods and Artifacts This section will go through the testing strategy we have laid and the testing methods that go with it We will briefly describe the methods we have included and explain why we have included them This strategy is mainly based on a Wikipedia article about software testing 2 and follows that article s structure quite closely We have not included all the methods the article lists as some methods are simply too large in scope for this project and others do not seem relevant to us Even though these methods originated with the vibrant software communities of the
203. tings Meetings are held every week with the group s internal advisor when these coincide with the Scrum meetings we include our internal advisor As preparation to these meetings a simple agenda is prepared where the group members can raise any challenges they see in regards to the project The internal advisor follows the group work and will raise concerns and share advice during these sessions Meetings with External Advisor In our case the external advisor is also our client Therefore the meetings we set up can often be a combination of client meetings and technical advice 5 2 Scrum Meetings Sprint Planning Meeting This meeting is held at the beginning of the sprint period In this meeting the development team negotiates and agrees on sprint backlog items for the sprint In the last part of this meeting the product backlog items are divided into tasks VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Daily Scrum It is a daily standing meeting that lasts 15 minutes Here the development team share with each other what they have done since the last daily Scrum They commit to new tasks or share what tasks they will work on for the next daily Scrum Members also share impediments to completing tasks Sprint Review Meeting The sprint review meeting is held to demonstrate the potential releasable product to any interested parties The done list is gone through by the product owner and he decide
204. tly because the Video Coacher always has the information about your practice available just a look away It s an excellent teaching tool for juggling teachers as well because you can use it to slow down explain and demonstrate patterns freeze and show specific errors to juggling students It offers a deeper understanding of your juggling technique and since it is always available you gain a better understanding of your overall technique It is very useful for juggling act training or endurance training review with very minor interaction required The Main Video Coacher Features e No Hands Needed Foot controller can be used for all control functions e Additional Wireless Control Wristband control at a distance e Time Shift Video Stream Continuously look back in time e Record amp Auto Replay Perfect for acts routines numbers and endurance training e Video Stream Loop Re watch your attempt until you know exactly what went wrong e Slow Motion Slow everything down and find the details hidden by normal speed e Time Shift Sound Markers Practical feedback markers when practicing e Controllable Delay Time Suit the Time Shift periods to your needs e Plug and Play USB Memory Stick Storage Easy permanent video material storage VIDEO COACHER 222 Catch 21 22 05 2014 Project Documentation Version 3 0 4 Future Products The Video Coacher Pro Version The Video Coacher is specialized for use in juggling practice It i
205. tons 6mm slim The design revolves around the Bluefruit Ez Key which can transmit 12 distinct ASCII codes wirelessly over Bluetooth Each ASCII code is activated with the push of a button We have connected six buttons to the Ez Key and they have the same function as their equivalents on the foot controller that is there is one mode toggle and five mode specific action buttons While paired the Ez Key consumes 25 mA and while transmitting it consumes approx 2 3 mA more The range is specified to be up to 10 meters With the battery containing 500 mAh it gives the controller approximately 20 hours of continuous use In order to extend battery life further we have added a power switch to this controller so that it can be turned off while not in use To create the schematic above we had to make two custom parts one to represent the Ez Key and the other a small Adafruit logic switch that is activated by the power button These parts are found in the catch21 Eagle library catch21 lbr More information about the wristband and its components can be found in the Wristband Tech Document Service and Development Manual or by visiting adafruit com 15 For more information see Wristband Tech Document section 3 in Tech Document Collection found in the annex VIDEO COACHER 16 See Wristband Tech Document in the annex 17 Also found in the annex Catch 21 22 05 2014 Project Documentation Version 3 0 5 Mechanical The
206. transmitter against the receiver is the main reason why IR was not suitable for this project VIDEO COACHER fei Catch 21 22 05 2014 Project Documentation Version 3 0 e RF o There are other radio frequency technologies which are suitable for for transmitting control signals RF can be very useful if you need a longer range on your wearable Some of the bands legally used in Norway is m 433 MHz m 868 MHz m 2 4 GHz um 5 GHz o Remember to check if the RF equipment is legal in your market In Norway this regulated by www npt no e The Control Unit needs a corresponding receiver for the chosen technology We are adding an USB Bluetooth v 4 0 receiver to the Odroid o Link http goo gl G7EKO Main Component 2 Control Buttons and Power Switch e We want to replicate the user interface from the Foot Controller so we want to use the same layout for the switches It means that we will include 5 control buttons and 1 function toggle switch Also a power switch is included in our design to turn on and off the unit We could add a reset switch and a Bluetooth pairing button but they are not needed in a daily basis In the current design we need to access these functions the hard way by opening up the Wristband Controller e Tactile Switch Buttons 6mm slim o Link http goo gl 5TJAk2 e Adafruit Push button Power Switch Breakout o Link http goo gl zm6n2z Main Component 3 Battery with charger e We chose a small but powe
207. uidance but at the same time take responsibility for our own project and avoid depending on advisors in regards to project progress Make sure the project is driven forwards and lead by project members e Risk of the documentation text being of a lower quality because the documentation language is English Work closely with our internal advisor to get feedback on documentation text Have other group members check quickly through text documents when they are finished Use the document responsible to go through documents for the last time before they are delivered to printing VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 2 Scrum and Risks When working on projects it is important to realize that things will go wrong at some points throughout the project In order to cope with this most project models try to assess which risks can affect the project and then create a plan which describes how possible risks are to be handled As we are using Scrum we will spend less time and resources planning risk handling The reasoning behind this is that in Scrum we use sprints each of our sprints lasting from one to three weeks At the start of each sprint we plan out the sprint based on the complexity of the sprints tasks and the velocity at which the team is operating H at any point in time during a sprint an unforeseen event arises we adjust the sprint to compensate 3 Previous Sprints Challenges and Solutions
208. uit schematics and 3D drawings are public available through our website e Link www videocoacher com The Video Coacher is an open source project which allows everybody to copy modify and redistribute the hardware and source code More about open sources projects e Link http en wikipedia org wiki Open source The Video Coacher system by Catch 21 consists of four main parts e Central Unit e Camera Rig e Wristband Controller e Foot Controller How to install and use the Video Coacher at your practice arena is covered in the User Manual 27 User Manual is found in the annex VIDEO COACHER 22 Catch 21 22 05 2014 Project Documentation Version 3 0 2 Installation and Maintenance 2 1 Environmental Requirements Product is developed for indoor use with normal lighting conditions Optimal lighting conditions have yet to be formally determined 2 2 Cabinet The cabinet contains the Central and the Control Unit and gathers all connections in one convenient place Central Unit The Central Unit is an Odroid X2 Arm based computer that connects all the extensions together and process all the data streams It has for convenience been placed inside a cabinet along with the Control Unit Control Unit The Control unit is one the system s several extensions but is placed inside a cabinet along with the Central Unit that it talks to by Serial Communication over USB The Control Unit consist of an Arduino M
209. uld show that we can choose the relevant tools and use them correctly We are to demonstrate leadership and that we can handle communication in a group Finally we are to demonstrate that we can plan and implement testing both during and towards the final phase of the project 1 SFHO 3201 Bachelor project doc found in the annex VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Product Objectives Our client Tanke and Teknikk wants a system that can give fast visual feedback during juggling technique training The system which is called the Video Coacher will also be used in lecture situations to demonstrate siteswaps The Video Coacher should remove most of the need for traditional video camera use in juggling training The problem with traditional video camera use is that the user often needs help from another person to track the performance In classic systems the user has to press start and stop as well as find the position of interest every time he wants to watch the material The display unit used is often the camera screen itself this is small which makes it hard to catch details If the user waits with reviewing until later much of the effect of feedback is lost since hours may have been spent practicing incorrect technique Also video review is probably not used as often as it could be since it is too inconvenient for the user to set up the equipment Finally having to move to the camera every time one
210. utilize Software the power of the ODROID X 2 Multithreaded So I can perform more advanced operations with the system Acceptance System runs on as many threads criteria as specified in the design Comments Table 35 ID 70 ID 73 As a developer Story Points 12 Create Interface for Arduino amp Android I want the ODROID X 2 and the Arduino Nano to be able to communicate So I can run software on both platforms at the same time Acceptance System runs on both platforms at criteria the same time Comments Table 36 ID 73 VIDEO COACHER fer Catch 21 22 05 2014 Project Documentation Version 3 0 IDH 76 As a developer Story Points 16 Put Everything want to run all software and Together hardware together in one bundle So I can run the system as a whole Acceptance System runs all modules at once criteria without problems Comments Table 37 ID 76 ID 79 As a developer Story Points 10 Create New Motor want to optimize the motor Library So I have a motor that performs smoothly and reliably Acceptance Motor runs with interrupt driven criteria code Comments Table 38 ID 79 ID 82 As a user Story Points 12 Wristband want to be able to control the system from a distance So I don t have to access the computer every time I m using the system Acceptance The system can be controlled criteria from a distance
211. uttons with LEDs and is controlled by an Arduino nano microcontroller 1 5 Wristband Is a secondary unit for user input that extends the range of operation to more than 3 meters It is designed to be used in addition to the foot controller but is able to control the system on its own so the user can decide on which he she prefers The wristband is connected to the central unit with Bluetooth and runs on a Bluefruit EZ KEY HID from Adafruit 3 More information on the Odroid see Tech Document Collection found in the annex 4 For more information on Adafruit see www adafruit com VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 2 Flow Diagrams 2 1 Central unit User input When the program is started the user is presented with the menu for low repetition mode Here you are able to start recording change settings or switch to high repetition mode The program is multithreaded so when starting recording in low or high repetition mode a signal is emitted to start the process and the main thread returns to listen for user inputs Low repetition When low repetition mode starts the chosen settings are applied and frames are requested from the camera The frames are stored in the frame buffer and delivered to the threads that are running according to settings Possible receivers are Color recognition If the tracking system is not disabled default is enabled Window handler If the livestream is enabl
212. verriding all the old links we then accessed the website and sorted the linking out via the website backend system PBI 498 Increase Motor Speed This had also been an issue that we had wanted to solve for several sprints Our solution was made with non blocking code creating a timer interrupt with higher frequency so as to reduce the minimum time between steps down to 0 1ms This led to our rpm reaching 600 which was much higher than what we had set as our goal 450 rpm PBI 95 Current Limitation Keeping the currents within specified limits was finally achieved this sprint We solved this with Pulse Width Modulation of the drive current Markedly less current drawn no performance loss and it reduced the noise at lower speed caused by rattling due to smoother movements We had to increase the Arduino s native PWM frequency to bring the resulting square wave noise out of the human audible range We did this by changing the timer2 scaler VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Summary Sprint 8 In this sprint there was even more pressure to get multithreading to work This was our second to last product sprint with the last product sprint lasting only one week We also wanted to implement video stream delay since it was meant to be one of our main features Because of the short time left in the project we decided to focus only on getting the really essential functions working and tried to avoid
213. w we implemented Scrum was required to fulfill the documentation requirements from the college At the same time we did not want to modify away the parts of Scrum that make it useful We decided to modify the Scrum framework after the requirements of our bachelor project VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Modify in the way that we have specific document requirements PBI s to fulfill Scrum has the advantage that you do short but complete iterations and you get results at the end of every sprint a Scrum period This leads to fast feedback which again means that we had the opportunity to fail fast and hence improve fast In Scrum we reiterate the development cycle every sprint Daily Scrum meetings are time boxed and last maximum 15 minutes The goal is to spend less time in meetings with everyone and rather meet with specific group members as needed Using a software tool called www scrumwise com helped us to implement the framework To reiterate the project s purpose was to develop a system we call The Video Coacher This system is intended to provide an adequate solution for our client Tanke og Teknikk The project is done as a collaboration between our college HBV and Tanke og Teknikk Catch 21 22 05 2014 Project Documentation Version 3 0 Project Documentation Overview This section lists all the documents that are a part of the Project Documentation It gives a brief de
214. wants to see what has been recorded is very disruptive to both training and focus Our project group plans to create a system that delivers video feedback with minimum obtrusion to practice A practitioner should be able to quickly review and correct errors During training the system must let the user focus on practice There should be minimal interaction required to get visual feedback In lecture demonstrations the user should be able to execute one or several siteswaps and then easily replay these on a display unit e g projector This requires more control and therefore a little more interaction is required Our client wants us to build a proof of concept of this system And he is potentially looking to develop the system further after the project period is over Because the client sees expansions into a larger setting as a possibility we currently envision two separate models one portable and one stationary The portable model is meant for use by a single person or maximum a few people for lectures and self training The stationary model would be mounted on walls of circus or dance schools as a permanent fixture for students to use either in collaboration with a trainer or for fast self assessment We will build a prototype of the portable model only But this will be made with the stationary model in mind so that the system can be expanded later if required The reason our client Tanke og Teknikk wants a proof of concept system is to demon
215. with the VirtualBox images was that we had decided upon creating one standard OpenSuse image which every computer would use to run Linux The image appeared to be working well at first but after a short while everyone started getting random issues such as VirtualBox crashing Linux not loading properly freezes and such PBI 17 Assemble amp Test rig The issue concerned sound from the stepper motor When testing the initial driver that had been made we experienced an uncomfortable amount of noise from the motor The noise was so loud that it was hard to hear others speak Summary Sprint 3 During sprint 3 we identified challenges in two areas we assumed to be quite easy the stepper motor and multithreaded software A lot of time was spent on these but both remained uncompleted PBI 66 Improve Stepper Motor Performance Our main challenge with PBI 66 was limiting the current drawn by the stepper motor to prevent it from overloading and overheating itself The issue appeared when running the motor at slow speeds We improved the Arduino stepper library to support enablers so we would be able to cut the power when the motor was not in use PBI 70 Make current software multithreaded In PBI 70 we were struggling to get a stable build of our multithreaded software it worked sometimes but crashed at what seemed like random intervals We were able to get some help from teachers and other sources so we had a good starting point for
216. wy l 1 K HBV de N nav Il l l lM a104 9 HAN Sensur av hovedoppgaver H gskolen i Buskerud og Vestfold Fakultet for teknologi og maritime fag ai Prosjektnummer 2014 01 For studie ret 2013 2014 Emnekode SFHO3201 Prosjektnavn Video Coacher An Automated Video Training System Utf rt i samarbeid med Bjerknes Tanke og Teknikk Ekstern veileder Jan Dyre Bjerknes Sammendrag Video Coacher is an open source training enhancement system for performing artists It can track user movements and provide continuous video feedback for self review The system can also assist artists while presenting or teaching their skills to others Visit us at www videocoacher com Stikkord e Automated e Video e Training Tilgjengelig Ja Prosjekt deltagere og karakter Karakter NEIN Brian Opedal Jacob N Berntsen Even H rtvedt n Eyvind S Nistad ystein V rsnes Dato 12 Juni 2014 Christian Thue Jos M M Ferreira Karoline Moholth Jan Dyre Bjerknes Intern Veileder Intern Sensor Ekstern Sensor Catch 21 22 05 2014 Project Documentation Version 3 0 Tanke og Teknikk JAN DYRE BJERKNES PhD Project Documentation Version 3 0 Version Date Changes in document Responsible 1 0 05 02 14 Created document Brian amp Jacob 20 01 04 14 Updated the document for second Blane Jacob delivery 3 0 20 05 14 Changed document name and structure Brian amp Jacob F
217. xperiences making it a valuable document for future project Groups VIDEO COACHER ekio Catch 21 22 05 2014 Project Documentation Version 3 0 2 Project Goal Fulfillment 2 1 Project Results In the Product Backlog Requirement Specifications we have presented an overview of our PBls which were essentially a wish list for the product In that document we have presented the goals that have been achieved Goals still in progress are shown which are the goals we intend to finish before the product delivery date Lastly we present goals that we have not yet begun implementing and most likely won t because of time constraints VIDEO COACHER Frei Catch 21 22 05 2014 Project Documentation Version 3 0 2 2 Project Costs A total budget costs overview What Camera 849 00 NOK SD Card 199 00 NOK Misc Electronical Parts 295 00 NOK Lynxmotion servos 232 50 NOK JetCarrier Shipment 674 00 NOK Stepper Motor 149 50 NOK Rail and support 880 00 NOK USB2 Cable 99 00 NOK Tripods 600 00 NOK Electrical comp 200 00 NOK USB USB mini 56 00 NOK Adafruit Foot Pedal 415 00 NOK Wristband 750 00 NOK 3D Print Foot pedal 600 00 NOK HDMI Extender 159 00 NOK Arduino Compatible 340 00 NOK Electrical comp 104 00 NOK Sum 6609 00 NOK VIDEO COACHER feer Catch 21 22 05 2014 Project Documentation Version 3 0 2 3 Project Evaluation Evaluation of the project
218. y e ay Ki Ka e e a D D D e P SS we BE e m A S S S Ss e ge d Se S A Q Sprint 2 Ber Sprint4 Ei Sprint 5 Doc zz Sprint 6 Fr Easter Holiday es Sprint 8 EET Sprint 9 Doc ENES Sprint 10 en Sprint 11 Doc EG 2 29 ES 26 Ze Figure 1 Gantt Chart Overview 3 2 Timesheet When using Scrumwise we are able to log and link our work hours to specific tasks in doing so Scrumwise creates a time sheet Through this system we can export to Microsoft Excel add hours together sort and present the data in an orderly fashion for good readability by using charts etc aa were Sum Of Used Time Per Person Sum Of Used Time Per Task ID 26 65 5 Christian 16 25 35 Even H rtvedt 18 25 20 Eyvind Nistad 11 20 Jacob Berntsen 24 15 ystein rsnes 215 5 10 10 5 URREA Brian Opedal Christian Even H rtvedt Eyvind Nistad Jacob ystein o Re 8 sl bu a aadal Berntsen rsnes SAASSRSSIFSLSSERARASSSRRKRRRRKSS Figure 2 Timesheet Column Charts Catch 21 22 05 2014 Project Documentation 03 03 2014 Christian 03 03 2014 Christian 03 03 2014 Christian 03 03 2014 Christian 03 03 2014 Christian 03 03 2014 Christian 69 Sprint 3 Planning 56 Cpp Check 41 Color recognition 59 Sprint 3 Miscellaneous Work 59 Sprint 3 Miscellaneous Work 59 Sprint 3 Miscellaneous Work Version 3 0 136 Sprint planning meeting 112 Set up CPP Check on computers 145 Find material 168 Daily Scrum 135 Update OpenCV in Ubu
219. ys assigned are Monday Christian Tuesday Even Wednesday ystein Thursday Eyvind Friday Brian Reserve Jacob Ov 0000 0 VIDEO COACHER ER Catch 21 22 05 2014 Project Documentation Version 3 0 1 2 Weekly Referent Each week a group member is the weekly referent Group members will keep track of when they are weekly referents themselves Information regarding this will be available in the Google Calendar called Bachelor Project The weekly referent is responsible for the numbered tasks below Write the Weekly progression document e The document shall be written using the weekly progression template e The weekly progression document is to be finished every Monday at 12 00 hours at the beginning of the coming week e Once finished it must get an approval from the document responsible e Once finished it must be made available to the advisors before 23 59 hours Monday at the beginning of the coming week This shall be done in the following way o Post to Google Forum The post should hold the name of the document and the date and week in the title Contents should be the link to the current weekly progression document Minutes from meetings with Jos on Fridays e Write the Minutes for the meeting with Jos e The minutes document is to contain o What was decided o Who took responsibility for doing what e The minutes should be finished within 24 hours of the meeting end that is latest at 12 00
220. ysis Document SR zl Hin sd fei si VIDEO COACHER Catch 21 22 05 2014 Project Documentation Version 3 0 Table of Contents Glossary and ACFONY MS svscscecscessiusiivviiastivaiivancsdecececececececececededececedncedececacecescdecadhsiatsistatancesedecedesboacteasets 4 Project KE 1 Le 5 Project Documentation Overview 7 Requirements Speeification u nu uen nern nern 7 2 Test Plan amp Specification e s eao aiir iaaea E RRR 7 3 Project Plan EE 7 AORISK EE 8 5 C ristruction DOCUMEN net essen se osvannenendivevese EES 8 6 Standards for Document and Code 8 7 Distribution of Assignment and Responsibilities rrnrrrvnnrrnnnnnrrvvrnrrvrrrrrrrnnnnnvvvnnrrrrrrsnnnnrvvnnnsssrnnn 8 8 Sprints and Burndown Charts Overview rrnnnnannnnnnnnrrrrnnrnsrssversrsssssssssssrsrssssnnsssnnnssnsssssssssssssssssssn 9 9 Sales Information Document 9 tt ler M na 9 11 Service and Development Manual ueeeneee ann 9 12 Technical Documents rrrnnnnnnnnrnnnnnrrrnnnnnnnvnnnrrrnnnnrrnnnnensnrrnnrnnnerevensseennnnnrreeserennnnerranneeeneessssennnnn 10 13 After Analysis Document 10 Pa ER NN NE 11 A Product Backlog Requirement Specflcatton 12 B Test Plan amp Specification uueezeensassnneennnnssennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnennsnnnnnnnnnnnnnennnnnn 37 C Broject ET EEN 78 RE SE NE ee ee ee hehe 102 E Construction DOCUIMEN TTT 118 F Standards for Document and Code
221. ze char portID Handles the setup of the serial connection The connection is opened with read and write access and in a non blocking way Settings baud rate is 9600 8bits packets no parity no stop bits and canonical mode Menu The purpose of the Menu class is to provide the user with menu options when using the system In addition to the constructor Menu has the following functions void menu void setWindow void startWindow void setSpeed void recNoWindow and the following attributes bool window bool speed char decision cv Mat menulmg VIDEO COACHER fei Catch 21 22 05 2014 Project Documentation Version 3 0 Menu functions descriptions Constructor The constructor just sets window and speed to true which means that a menu will be shown and that the stream will be displayed at 30 FPS void menu This function basically loads up a menu and displays it until the user chooses which mode he wants to start out with and then proceeds to show which buttons trigger which functions on the foot pedal Window Handler This class has one purpose only and that is to display the video stream in a window In addition to its constructor it has the following function void drawlmage cv Mat image Window Handler function description Constructor In the constructor a GUI window to paint frames on is made and its properties set void drawlmage cv Mat image This function is passed

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