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oCameraGB Class Reference

An object to control a GameBoy Camera. More...

#include <ocameragb.h>

Public Member Functions
	oCameraGB (IOLINE, PORT, IOLINE, IOLINE, IOLINE, IOLINE, IOLINE, IOLINE, uint8 subclass=0)
Static Public Member Functions
word	exposure (void)
	Automatically set exposure.
int	exposure (MICROSECOND)
	Set exposure. (returns C register for debugging).
void	reset (void)
	Call gbcam_init to reset after chaning parameters.
void	invert (bool)
void	gain (uint8 b)
	Sets the image gain. (5 bits).
void	shoot (void)
	Takes a picture.
uint8	status (void)
	Returns the current state of the top level component.
void	status (uint8 s)
	Set the status of the component.
Protected Attributes
uint8	_status
	JAUS status (visual sensor component).

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Detailed Description

An object to control a GameBoy Camera.

Gameboy Camera

The Gameboy camera has an effective resolution of 128 pixels across by 123 pixels vertically. At the heart of the GAME BOY® Camera is the M64282FP CMOS image sensor from Mitsubishi

Warning:

Only works with ROM loaded programs (library default); I need to streamline the loader scripts (RAM/ROM) to work with the camera.

Operation

The CameraGB uses Dafydd Walter's code to control the Gameboy Camera. The code has been modified to allow dynamic control of the control pins. But Dafydd reminds us to be aware that certain pins have a special purpose during reset, so for example, it is not possible to use Port F, bit 0 as an input (e.g. for the camera READ signal) since it is the MODCLK configuration pin of the 68332.

Also be aware that this code allows ONLY one camera to be hooked up currently. For details on how to hook up the camera refer to Implementing Vision Using a GAME BOY Camera on the MRM currently at Seattle Robotics Society's web site. The pin assignements in paranthesis refer to Dafydd's wire table (table 1. Eyeball to MRM connections). Use this as a guide.

The view method can be controlled manually, but preferred is to use the GBCamView Java script that allows you to interact with the camera. Refer to the above Seattle Robotics Society'S page for details.

Remarks

To allow generic pin assignments required the "setting aside" of memory. This allows the C++/C/Assembly to communicate. To accomplish this I simply changed the _ram_start location. This currently only works in the ROM loader script. I need to do more testing to find an acceptable global allocation scheme that works in both RAM/ROM.

Note, see Analysis of the Gameboy Camera Frame Rate for notes on maximizing the frame rate.

Debugging Hints

Always be sure you have the programming cable connected. Connected to terminal do the following:

• Press 'x'. Program should terminate.
• Press 'p'. should see a dump of image. If these do not work, then program is not accepting input from terminal is problem.

Sample Code

#include <hardware/ocameragb.h>
#include <hardware/oled.h>
#include <oconsole.h>
int EXPOSURE_TIME =6000;
char RXbuff[251];
char TXbuff[251];
oConsole console;
oCameraGB GB(0,PORT_F,3,5,7,6,4,2);     // Gameboy camera mounted facing down in front of robot.
oGreenLED green;
int main()
{
  green.on();
  console.buffer(&RXbuff[0],250,&TXbuff[0],250);
  console.syncronize();
  GB.exposure(EXPOSURE_TIME);   // set exposure 24000 is about 2 frame/sec; 7000 is about 5-6/second(?)
  GB.view();    // interactive mode.
  exit(0);
}

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Constructor & Destructor Documentation

oCameraGB (  IOLINE  , PORT  , IOLINE  , IOLINE  , IOLINE  , IOLINE  , IOLINE  , IOLINE  , uint8  subclass = 0 )

Parameters: IOLINE:  Vout - Analog Signal Output on A2D port (8). PORT:  CamPort - The port the camera is attached (E/F). IOLINE:  CamREAD - Channel to read image output (7). IOLINE:  CamXCK - Channel for system clock input (6). IOLINE:  CamXRST - Channel for system reset input (5). IOLINE:  CamLOAD - Channel for data set input (4). IOLINE:  CamSIN - Channel for data input (3). IOLINE:  CamSTRT - Channel for start input (2).

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Member Function Documentation

void invert (  bool   )  [static]

Inverts the image if true (negative). Sets the edge extraction mode.

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The documentation for this class was generated from the following file:

• ocameragb.h

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