If the green LED on the CMU-01 never blinks when you run the program,
you probably have the TX and RX lines reversed. So, switch the two lines and try
again. Make sure you have the power switch on the CMU-01 in the on position.
If the robot turns to the left when it needs to turn to the right, you have the
left and right servomotors reversed. Switch them.
The C-Bot is bundled with the CMU-Pro program. This software allows you to
work with many features of the CMU camera. The CMU-01 camera is bundled with
an RS-232 serial cable to connect it to the PC. It therefore requires the PC to have
an available serial port.
With the C-Bot, you can get a feel for how the camera views targets. Using the
CMU-Pro software, you can see exactly what the camera sees by using screen
dumps from the camera. Look at Figures 22 and 23. Figure 22 is of our model
Kim as she appears to the CMU-01 camera. Figure 23 is the same lighting and
background shot with a standard camera.
The CMU-Pro program allows you to track on any color within the screen dump
image. So, if you wanted to try to track Kim’s eye, you could select her eye for
tracking. Tracking may be accomplished using simulation on the PC, if you’d like.
C-Bot Parts and Kit available from:
Images Scientific Instruments, Inc.
109 Woods of Arden Road
Staten Island, NY 10312
The C-Bot has lots of room for improvement. In its current state, C-Bot responds
to only one movement of the target at a time (whether it is left, right, up, down,
forward, or backward). It is possible to program C-Bot to respond to multiple target
movements. This will increase the complexity and size of the program, however.
If the size of the program exceeds the 2K programming space of the 16F628, you
can use a PIC16F88. The 16F88 has the same footprint as
the 16F628 but twice the memory (4K). To use the 16F88,
I believe the comparators are already disabled by
default. Converter inputs are controlled with the ANSEL
register. So, use the command: ANSEL = $00 to make all
the pins digital. SV
14V- 50 V-Du al 80AH-bridges- 15 0A+P eak!
Adjustablec urrentl imiting
ThreeR/ Cin puts-s erialop tion
Manym ixingop tions-Fl ippedBo tIn put
Ruggede xtruded Aluminumc ase
4. 25"x3. 23"x1. 1”
Dual 20AH- bridge 45APe ak!
2.7“x1 . 6”x0. 75”
Dual 13AH- bridge
2.7“x1 . 6”x0. 5”
2.5A (6Apk )H- bridge
1.6”x. 625”x0 . 25”
Closed-loopco ntroloft wom otors
FullP IDp osition/velocityl oop
Trapezoidalp athge nerator
WindowsGU Ifo ral lfe atures
GiantSe rvoMo de!
Cso urcef orr outinespr ovided
3wi rei nterface
Videos of the CMU software tracking object in window:
Videos of CMU Pro software controlling X-Y Bot tracking object:
3wi rei nterface
www.robotpower.com THE USA
Phone: 253-843-2504 firstname.lastname@example.org
• CMU-01 camera
• Plastic body (see text)
• 2 - Continuous rotation
• 1 - HS-322 Hi Tec servomotor or equivalent
• 2 - servomotor wheels
• 1 - Caster wheel, with
1/4-20 screw and coupling
• LCD display module
• 16F628 PIC microcontroller
• 16 MHz Xtal
• 2 - 22 pf Capacitors
• 7805 voltage regulator
• 7806 voltage regulator
• Battery pack (six AAs)
• 3 - 220 µF 16V capacitors
• 3 - 10K 1/4W resistors
• 4.7K 1/4W resistor
• 33 ohm 1/4W resistor
• 20K potentiometer
• Misc. switches, plastic, six
AA battery holder, 6-32
machine screws, nuts, and
54 SERVO 05.2009