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The software is written in c++ using Gtk+
and gnome as the gui interface. The sofm is derived from
sofm
with a few modification. The main modification is rewiring the software to
be object oriented as well as the addition of displaying the map in a
graphical format. The vision processing is implemented using Intel
OpenCV
libraries with the addition of
CMVision to get
the coordinates of a color blob.
The software if available from here. It will need Gnome/Gtk+ libraries and GtkPlot to compile. The IsoPod software is written in Forth and for now it just moves the servos to a given position sofm_software.tar.gz arm.upper.fs Screen Shot
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