1. Motion Tracking with the RCX and Quickcam Dan Huber Joe Winegarden http://www4.ncsu.edu/~jjwinega/csc714/ CSC 714 Final Project

2. Motion Tracking Setup  Quickcam mounted on top of motor, RCX brick sits to the side for less weight  Quickcam connected to linux PC via USB  PC runs lnpd to communicate with IR tower  PC runs frame grabber code, sends messages through tower to RCX  RCX waits for message received, rotates until told to do otherwise

3. Image Processing  Grab frames every 50 ms, determine where “most blue” pixel is located based on center of frame  Messages are 0 (stop turning), 1 (rotate left), 2 (rotate right)

4. Issues Solved/Unsolved  Improv image processing software difficult to adapt to our application, so we wrote all frame-grabbing and image processing code ourselves Video4Linux API for frame-grabbing code  lnpd makes IR communication very simple: Completely separate from BrickOS Just include library and call 'lnp_addressing_write()'  Extremely stiff USB camera cable greatly restricts the rotational movement of the camera Can't follow blue pen more than a few degrees without requiring man-power to assist camera movement  Reacts in real time!