WALL-E Version 1.0
The "WALL-E" Project is a ME 507 quarter term project inspired to recreate the robot WALL-E. The WALL-E robot is a fully 3D printed robot with modified components in order to fit the needs of the chosen peripherals and electronics. WALL-E contains a custom made PCB which is housed in the main body of WALL-E. WALL-E's peripherals and components include 2 pololu Romi Motors with encoders, 4 MG90s servos, BNO055 IMU, and a OV2640 ArduCam camera. The objective of WALL-E is to scan the surrounding area for the closest object to it. Once that object is detected, WALL-E drives up to the object, attempts to pick up or hold the object and detect the color of the object.
Loading...
Searching...
No Matches
cameraRegs.h
Go to the documentation of this file.
1/* USER CODE BEGIN Header */
20#ifndef INC_CAMERAREGS_H_
21#define INC_CAMERAREGS_H_
22
23#pragma once
24
29 uint8_t reg;
30 uint8_t val;
31};
32
37// OV2640 RGB565 QQVGA (160x120) Configuration
39 {0xff, 0x01}, {0x12, 0x80}, // Reset
40
41 {0xff, 0x00}, {0x2c, 0xff}, {0x2e, 0xdf},
42 {0xff, 0x01}, {0x3c, 0x32}, {0x11, 0x01},
43 {0x09, 0x02}, {0x04, 0x28}, {0x13, 0xe5},
44 {0x14, 0x48}, {0x2c, 0x0c}, {0x33, 0x78},
45 {0x3a, 0x33}, {0x3b, 0xfb}, {0x3e, 0x00},
46 {0x43, 0x11}, {0x16, 0x10}, {0x39, 0x92},
47 {0x35, 0xda}, {0x22, 0x1a}, {0x37, 0xc3},
48 {0x23, 0x00}, {0x34, 0xc0}, {0x36, 0x1a},
49 {0x06, 0x88}, {0x07, 0xc0}, {0x0d, 0x87},
50 {0x0e, 0x41}, {0x4c, 0x00}, {0x48, 0x00},
51 {0x5B, 0x00}, {0x42, 0x03}, {0x4a, 0x81},
52 {0x21, 0x99}, {0x24, 0x40}, {0x25, 0x38},
53 {0x26, 0x82}, {0x5c, 0x00}, {0x63, 0x00},
54 {0x46, 0x3f}, {0x0c, 0x3c}, {0x61, 0x70},
55 {0x62, 0x80}, {0x7c, 0x05}, {0x20, 0x80},
56 {0x28, 0x30}, {0x6c, 0x00}, {0x6d, 0x80},
57 {0x6e, 0x00}, {0x70, 0x02}, {0x71, 0x94},
58 {0x73, 0xc1}, {0x3d, 0x34}, {0x5a, 0x57},
59 {0x4f, 0xbb}, {0x50, 0x9c}, {0x0f, 0x43},
60 {0xff, 0x00}, {0xe5, 0x7f}, {0xf9, 0xc0},
61 {0x41, 0x24}, {0xe0, 0x14}, {0x76, 0xff},
62 {0x33, 0xa0}, {0x42, 0x20}, {0x43, 0x18},
63 {0x4c, 0x00}, {0x87, 0xd5}, {0x88, 0x3f},
64 {0xd7, 0x03}, {0xd9, 0x10}, {0xd3, 0x82},
65 {0xc8, 0x08}, {0xc9, 0x80}, {0x7c, 0x00},
66 {0x7d, 0x00}, {0x7c, 0x03}, {0x7d, 0x48},
67 {0x7d, 0x48}, {0x7c, 0x08}, {0x7d, 0x20},
68 {0x7d, 0x10}, {0x7d, 0x0e}, {0x90, 0x00},
69 {0x91, 0x0e}, {0x91, 0x1a}, {0x91, 0x31},
70 {0x91, 0x5a}, {0x91, 0x69}, {0x91, 0x75},
71 {0x91, 0x7e}, {0x91, 0x88}, {0x91, 0x8f},
72 {0x91, 0x96}, {0x91, 0xa3}, {0x91, 0xaf},
73 {0x91, 0xc4}, {0x91, 0xd7}, {0x91, 0xe8},
74 {0x91, 0x20}, {0x92, 0x00}, {0x93, 0x06},
75 {0x93, 0xe3}, {0x93, 0x03}, {0x93, 0x03},
76 {0x93, 0x00}, {0x93, 0x02}, {0x93, 0x00},
77 {0x93, 0x00}, {0x93, 0x00}, {0x93, 0x00},
78 {0x93, 0x00}, {0x93, 0x00}, {0x96, 0x00},
79 {0x97, 0x08}, {0x97, 0x19}, {0x97, 0x02},
80 {0x97, 0x0c}, {0x97, 0x24}, {0x97, 0x30},
81 {0x97, 0x28}, {0x97, 0x26}, {0x97, 0x02},
82 {0x97, 0x98}, {0x97, 0x80}, {0x97, 0x00},
83 {0x97, 0x00}, {0xc3, 0xef}, {0xa4, 0x00},
84 {0xa8, 0x00}, {0xbf, 0x00}, {0xba, 0xf0},
85 {0xbc, 0x64}, {0xbb, 0x02}, {0xb6, 0x3d},
86 {0xb8, 0x3d}, {0xb7, 0x3d}, {0xb9, 0x3d},
87 {0xb3, 0x3d}, {0xb4, 0x3d}, {0xb5, 0x3d},
88 {0xb0, 0x3d}, {0xb1, 0x3d}, {0xb2, 0x3d},
89 {0xc7, 0x00}, {0xc6, 0x51}, {0xc5, 0x11},
90 {0xc4, 0x9c}, {0xcf, 0x02}, {0xa6, 0x00},
91 {0xa7, 0xe0}, {0xa7, 0x10}, {0xa7, 0x1e},
92 {0xa7, 0x21}, {0xa7, 0x00}, {0xa7, 0x28},
93 {0xa7, 0xd0}, {0xa7, 0x10}, {0xa7, 0x16},
94 {0xa7, 0x21}, {0xa7, 0x00}, {0xa7, 0x28},
95 {0xa7, 0xd0}, {0xa7, 0x10}, {0x7f, 0x00},
96 {0xe5, 0x1f}, {0xe1, 0x77}, {0xdd, 0x7f},
97 {0xc2, 0x0e},
98
99 // Image Format and Output Size
100 {0xff, 0x00}, // DSP bank
101 {0x12, 0x04}, // COM7 - Set RGB output
102 {0x40, 0xd0}, // COM15 - RGB565 full output range
103 {0x3a, 0x04}, // TSLB - Set UV ordering
104 {0x8c, 0x00}, // RGB444 - disable
105 {0xc0, 0x22}, // HSIZE (high bits)
106 {0xc1, 0x00},
107 {0x86, 0x00},
108 {0x50, 0x92},
109 {0x51, 0x80}, // H_SIZE[7:0] = 128
110 {0x52, 0x60}, // V_SIZE[7:0] = 96
111 {0x53, 0x00},
112 {0x54, 0x00},
113 {0x55, 0x00},
114 {0x57, 0x00},
115 {0x5a, 0x28}, // Zoom H
116 {0x5b, 0x1e}, // Zoom V
117 {0x5c, 0x00},
118 {0xd3, 0x04}, // DCW enable
119
120 // Disable AGC, AEC, AWB
121 {0xff, 0x00}, // DSP register bank
122 {0x13, 0xe0}, // COM8 - AGC=0, AEC=0, AWB=0
123 {0x00, 0x20}, // Gain = 0
124 {0x10, 0x10}, // Exposure = low
125
126 // End of register list
127 {0xff, 0xff}
128};
129
130#endif /* INC_CAMERAREGS_H_ */
131
const regval_list OV2640_RGB565_QQVGA[]
List of all registers to write data to for minimal camera usage and object detection....
Definition cameraRegs.h:38
Struct for reading the Register Value List and writing to I2C for Camera Configuration.
Definition cameraRegs.h:28
uint8_t reg
Definition cameraRegs.h:29
uint8_t val
Definition cameraRegs.h:30