Run the Pantilt Demo

Version 13 (Rich LeGrand, 03/24/2014 02:26 pm)

1 5 Rich LeGrand
h1. Running the Pan/tilt Demo
2 1 Rich LeGrand
3 11 Rich LeGrand
OK, you've [[Assembling pan/tilt Mechanism|assembled the pan/tilt mechanism]] and it looks cool, but it would look even cooler if it actually moved.  One nice thing is that you don't need a battery to move the pan/tilt -- the pan/tilt can use the USB cable for power, *but you must use a 4 ft or shorter cable*. (3 ft is common, and even better.)  If you use a longer cable, there can be up to 1 volt of voltage drop along the cable, which is fine for Pixy, but the servos will malfunction.  Also, before you run the pan/tilt demo, go ahead and [[Teach Pixy an object|teach Pixy an object]].  
4 1 Rich LeGrand
5 1 Rich LeGrand
There are two ways to run the pan/tilt demo.
6 1 Rich LeGrand
7 13 Rich LeGrand
h3. Running the demo by using the button press sequence
8 1 Rich LeGrand
9 1 Rich LeGrand
When Pixy first powers up, you'll notice that the LED turns on (white) for about 1 second, then flashes, then turns off.  What's really happening is Pixy is asking you which program you want to run.  Currently, Pixy ships with two programs:
10 1 Rich LeGrand
11 1 Rich LeGrand
# the default tracking program that detects objects and streams them out the port you choose
12 1 Rich LeGrand
# the pan/tilt demo
13 1 Rich LeGrand
14 12 Rich LeGrand
So, power up Pixy, and when the LED turns on (white), hold down the button. The LED will turn red then orange, red then orange, etc. If you release the button when the LED is red, you will select the default tracking program.  If you release the button when the LED is orange you will select the pan/tilt demo. So do that -- release the button when the LED is orange.  The LED will flash orange a couple times which means "running program 2!" 
15 1 Rich LeGrand
16 12 Rich LeGrand
And then Pixy should track your object.  Yay!
17 1 Rich LeGrand
18 12 Rich LeGrand
A quick note on program selection -- normally, upon power up, if you don't press the button, Pixy "times-out" and just runs the default program, which is the tracking program, but you can configure which program is the default program from the PixyMon Configure Dialog. 
19 1 Rich LeGrand
20 1 Rich LeGrand
h3. Running the demo from PixyMon
21 1 Rich LeGrand
22 10 Rich LeGrand
If you're running PixyMon, you can run the demo (or any other program) at any time by selecting it in the *Action* menu.  In particular, select *Action➜Run the pan/tilt demo*. 
23 1 Rich LeGrand
24 1 Rich LeGrand
Pixy should then track your object and print the position to the command window. Yay! 
25 1 Rich LeGrand
26 13 Rich LeGrand
h3. Using an Arduino to run the demo
27 13 Rich LeGrand
28 13 Rich LeGrand
You can have your Arduino perform pan/tilt tracking too.  The Arduino reads in the object blocks and calculates the positions of the pan and tilt servos and sends the calculated positions back to Pixy, and Pixy then updates the servo positions.  This demo is great for getting your Pixy and Arduino better acquainted and getting them both collaborating in some kind of application you write. 
29 13 Rich LeGrand
30 13 Rich LeGrand
OK, start by getting the latest Arduino-Pixy code, described [[Hooking up Pixy to a Microcontroller like an Arduino|here]].  Load the pantilt demo by selecting it in *File➜Examples➜Pixy➜pantilt* Upload it you should start seeing the pan/tilt move to track any object that matches signature 1. Note, you'll need to have taught Pixy an object first!
31 13 Rich LeGrand
32 13 Rich LeGrand
You can also play with the code, such as changing the proportional and derivative gains. 
33 13 Rich LeGrand
34 13 Rich LeGrand
<pre>
35 13 Rich LeGrand
ServoLoop panLoop(500, 800);
36 13 Rich LeGrand
ServoLoop tiltLoop(700, 900);
37 13 Rich LeGrand
</pre>
38 13 Rich LeGrand
39 13 Rich LeGrand
Here, 500 is the proportional gain and 800 is the derivative gain for the pan servo.  Likewise 700 and 900 are the proportional and derivative gains for the tilt axis.  Try reducing the proportional gain in half and see what happens.  
40 13 Rich LeGrand
41 13 Rich LeGrand
42 13 Rich LeGrand
 
43 1 Rich LeGrand
44 1 Rich LeGrand