1. Microcomputers Final Project

2.  Camera surveillance is an important aspect of Robotics.  Autonomous robots require the use of servos for camera control  This project creates a camera system that can be controlled by the Blackfin EZKIT Lite.

3.  The first step was assuming control over the servo through the Blackfin.  The particular servo used turns according to the amount of pulses sent to it per second.  That is forward movement required more pulses per second when compared to reverse

4.  In order to achieve pulses, a function was created that sends a high signal to the servo’s control line then delays for a specific time (according to spin direction).  It then switches the signal off for a specific time and motion is achieved

5. Camera with 360 degrees of movement

6.  The base code used for this program was the Frame Capture Video Out.  Basically it allows a user to take a picture and stores it into the SDRAM  To improve the functionality, a motion enabled camera was added.

7.  The servo itself needs 3 connections.  Power = 5 V  Ground = 0V  Signal = 5 – 0V

8.  The expansion port at the base of the board allowed for power connections  An IO port was required for the servo control line so that signals could be sent  Flash A Port B uses its first 6 pins to light the LEDS but 2 pins are left free

9.  The expansion port gives access to these two free pins.  One gave an output voltage of 5V  5V was ideal for the servo and was used  The next page shows the pins used

10. PB7 – Servo Control Connection Flash A Port B

11. Connections of servo’s Power lines

12.  The camera can rotate 360 degrees  PF9 turns the camera left  PF10 turns the camera right  PF8 takes a snapshot and displays to the screen

13.  The first additional plan for this system is to add another servo to allow camera movement on the vertical axis in contrast to the horizontal limited.  The use of the UART connection to further allow for a remote execution of the system.

14.  Remote control Via UART Posed a few problems  The initialization of the CORE ID’s somehow stopped the execution of the Camera Code

15.  This project was a great starting point for future robotics projects.  The camera can be automated to do a total area scan with or without human intervention  UART Communications would have increased the usability and features of this program by a large amount.