CMUcam3

= !spoonBot Sample Program =

[[Image(htdocs:images/spoonBot_thumb.jpg)]]

spoonBot is a simple differential drive robot with a spoon connected to a servo that allows it to pan and tilt.  See the [wiki:spoonBot spoonBot-Construction] page for information about building spoonBot.  The sample program that comes with the latest cc3 distribution contains sample code demonstrating how to move spoonBot as well as run spoonBot Demo mode.  spoonBot Demo mode is similar to the CMUcam2 demo mode only it uses spoonBot to pan and tilt.

Before using spoonBot, you need to calibrate your servo settings.  This is done by setting the following data structure at the top of main:

{{{

#!c

 // SpoonBot Calibration Points

  //   Assume Left = Servo 0

  //   Assume Right = Servo 1

  //   Assume Spoon = Servo 2

  my_cal.left_mid = 71;

  my_cal.right_mid = 77;

  my_cal.spoon_down = 100;

  my_cal.spoon_mid = 202;

  my_cal.spoon_up = 255;

  my_cal.left_dir = 1;

  my_cal.right_dir = -1;

  my_cal.spoon_dir = 1;

  // Set the calibration points

  spoonBot_calibrate (my_cal);

}}}