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Sometimes you just want to move part of your robot. If you have a camera and are doing some things with machine vision (see 6), then you definitely want a pan and tilt camera system. The one I use is shown in Figure 3-7 and comprises a few brackets and two servos, which can be purchased from Lynxmotion for less than $35. I will take the same concepts used in our differential drive systems like grouping servos together in a class, and then we will use our MiniSSC class to control the servos.



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how to write pdf file in asp.net c#

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In this activity, you will become familiar with the following: Setting breakpoints and stepping through the code Using the various debugging windows in the VS IDE Locating and fixing build errors using the Error List window

Figure 3-7. The Lynxmotion Pan and Tilt Kit Figure 3-8 shows a diagram that summarizes the classes.

Constant: The background color for the image will be used. Edge: The pixel on the edge of the image will be used (the default). Mirror: The image is mirrored around the edges. Tile: The image is tiled. Transformations that use this value are the blur, sharpen, and wave transformations.

The objective in this section is to create a class to control a pan and tilt mechanism from a servo controller.





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In this chapter, I covered some of the artistic transformations that ImageMagick lets you apply to images. Read on for information on the remaining operations I haven t covered yet, including other image transformations, drawing facilities, and various programming interfaces.

Note If you have not already done so, download the starter files from the Source Code area of the Apress

The most important part of this class is the preconfigured constants for example, what pins connect the servos How far can the servos move What are the rest positions These are things you ll have to experiment with to set. The remaining fields are stepSize (how many bytes the

mageMagick can do many other image transformations that are a bit more mundane than those in the previous chapter but that are still useful. This chapter is devoted to those routine but useful transformations. I ll demonstrate the transformations with a variety of input images, and I ll discuss the available options along the way.

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system will move per step defaulted to three), speed (how fast the servo will move between steps), and the MiniSSC, which does the work The constructor is the JSerialPort and the move method calls separate methods to move the horizontal and vertical control servos The two methods horz() and vert() will look at the current position values and then send corresponding serial signals to the SSC as long as the positions are within the range of the pan and tilt system Rather than always using byte positions from 0 to 255, I added two methods horzDegree() and vertDegree() that will convert angles from 0 to 180, and bytes from 0 to 255 The other methods are there to move the pan and tilt mechanism in steps.

This is useful if you have a camera tracking system and you just want to move a step in a direction but don t know how far left, right, up, or down you want to move Because I want the pan and tilt to move smoothly from one position to another in the setServoTiming() method, I perform some error checking to see if the movement rate specified is greater than the maximum speed For example, if the servo can move from 0 to 90 degrees in 240 milliseconds and I want it to move there in 200 milliseconds, I need to throw an exception because the servo can not move that fast Also, if the step size is less than the minimum size, I need to throw an exception because the servo can only respond to signals as fast as the serial controller can send them at a 9600-baud rate.

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how to write pdf file in asp.net c#

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