OverviewModule Description/ImplementationMapsInboxCarstateObject TrackerMinefieldMazeRacetrackOpenVert_LineHorz_LineVga_SyncPointHexdisplayDividerClockDisplay_StringSynchronizeMovementPosition_CalculatorXVGAZBT_6111CoordinatesAdv7185initNTSC_DecodeGen_ModelNTSC_To_ZBTDelayNLabkitTesting and DebuggingConclusionAppendixObject Orientation and Position Tracker Andrew Lee & Tiffany Wang Fall 2005 – 6.111 Final Project 1Abstract The “Object Orientation and Position Tracker” is a digital tracking system that determines an object’s exact position and orientation within a predefined space. Applications of this system involve mostly object location. For example, the tracking system could be used to determine the location of a person within a room and distinguish what the person is looking at or doing based on the orientation of the body. Other applications include boundary detection, such as indications of when an object is about to collide with a wall or barrier, and area detection, such as indications of when the object has entered a particular region in the predefined area. For this project, a small remote controlled car constrained within a set area is used to simulate the tracking system model. The position of the car is determined using video processing, mapped onto a coordinate system, and displayed on a monitor. In addition to tracking the movement of the car as it traverses the empty space, there are a few predefined maps for the car to navigate through. These maps are all virtually defined and collisions with these virtual boundaries are reflected in the motion and feedback to the controls of the car. 2Table of Contents Overview............................................................................................................................. 6 Module Description/Implementation................................................................................ 13 • Maps.......................................................................................................................13 o Inbox ..................................................................................................................13 • Carstate ..................................................................................................................14 • Object Tracker .......................................................................................................16 o Minefield............................................................................................................18 o Maze...................................................................................................................18 o Racetrack ...........................................................................................................19 o Open...................................................................................................................19 o Vert_Line............................................................................................................19 o Horz_Line ..........................................................................................................20 o Vga_Sync............................................................................................................21 o Point...................................................................................................................21 • Hexdisplay .............................................................................................................21 o Divider ...............................................................................................................22 o Clock ..................................................................................................................23 o Display_String ...................................................................................................23 • Synchronize............................................................................................................24 • Movement ..............................................................................................................25 • Position_Calculator................................................................................................26 o XVGA .................................................................................................................26 o ZBT_6111...........................................................................................................26 o Coordinates........................................................................................................27 o Adv7185init........................................................................................................27 o NTSC_Decode....................................................................................................27 o Gen_Model.........................................................................................................28 o NTSC_To_ZBT...................................................................................................28 o DelayN ...............................................................................................................28 • Labkit.....................................................................................................................29 Testing and Debugging..................................................................................................... 30 Conclusion ........................................................................................................................ 34 Appendix........................................................................................................................... 35 maps.v……………………………………………………………………….……34 inbox.v………………………………………………………………………....…35 carstate.v……………………………………………………………………….…36 object_tracker.v………………………………………………………….…….…42 open.v………………………………………………………………………….…46 minefield.v…………………………………………………………………….…48 maze.v…………………………………………………………………………....52
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