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[on:]

i'm doing a line follower using cmucam4 camera and a sugeno fuzzy system to control the car.

the problem goes like this: when i process the image data and send them into the fuzzy system, the data show overflow(shown in serial monitor). some of the If Then statement become true event the condition does no meet.

for (int y=14; y<49; y=y+2)  // read the image
  {
    int blackcount=0;
    int blacksum=0;
   
    for (int x=9; x<70; x++)
    { 
      if(cam.getPixel(&f_data,y,x)==1)
      {
        blackcount=blackcount+1;
        blacksum=blacksum+x;
      }
    }
   
         
    if (blackcount==0)
    {
      centroid_x=0;
      centroid_y=0;
    }
     
    else
    {
      centroid_x=blacksum/blackcount;  //calculate the line centroid
      centroid_y=y;
      N=N+1;
    }


i take 18 lines for the calculation, then i calculate the final target point.

target_x=total_x/N; //N is the lines ** if i assign target_x and target_y with number, the system works,
target_y=total_y/N;                       ** but if i use the calculation value and send it to the fuzzy, the whole things goes worng.

then target_x and target_y will feed into fuzzy system

if ((target_x>9.0&&target_x<=27.0)&&(target_y>0.0 &&target_y<=10.0))  // rule 1
    {
      if (target_x>9.0&&target_x<=18.0)
      rulex1=target_x/(9.0)-1.0;
      else if(target_x>18.0&&target_x<=27.0)
      rulex1=target_x/(-9.0)+3.0;
      else
      rulex1=0.0;
   
      if (target_y>0.0&&target_y<=5.0)
      ruley1=target_y/(5.0);
      else if(target_y>5.0&&target_y<=10.0)
      ruley1=target_y/(-5.0)+2.0;
      else
      ruley1=0.0;
     
      output1=min(rulex1,ruley1);
      steering1=abs(output1)*77.0;
      speed1=abs(output1)*150.0;
    }

there are 21 rules.

can anyone help me????

[Reply #1 on:]

can anyone help me????

http://snippets-r-us.com might be able to help you with the improperly posted snippets. Here, we expect to see ALL of your code, properly posted.

[Reply #2 on:]

How to use this forum

Please edit your post, select the code, and put it between [code] ... [/code] tags.

You can do that by hitting the # button above the posting area.

[Reply #3 on:]

http://snippets-r-us.com might be able to help you ...

Whoa ...

Firefox can't find the server at snippets-r-us.com.

[Reply #4 on:]

Firefox can't find the server at snippets-r-us.com.

Isn't that rather the point?

[Reply #5 on:]

this is the code:

Code:

#include <CMUcam4.h>
#include <CMUcom4.h>
#include <Servo.h>

Servo sservo;
int motor = 10;
int ENDL = 22;

#define RED_MIN 0
#define RED_MAX 30
#define GREEN_MIN 0
#define GREEN_MAX 30
#define BLUE_MIN 0
#define BLUE_MAX 30
#define LED_BLINK 5 // 5 Hz
#define WAIT_TIME 5000 // 5 seconds


CMUcam4 cam(CMUCOM4_SERIAL3);

void setup()
{
  cam.begin();
  Serial.begin(9600);
 
  cam.LEDOn(LED_BLINK);  // Wait for auto gain and auto white balance to run.
  delay(WAIT_TIME);

  cam.lineMode(true);
  cam.cameraBrightness(-120);
  cam.cameraContrast(30);
  cam.LEDOn(CMUCAM4_LED_ON);
 
  sservo.attach(8);
  sservo.write(90);
 
  pinMode(motor,OUTPUT);
  pinMode(ENDL,OUTPUT);
  digitalWrite(ENDL,HIGH);
 
}


void loop()
{
 
  int N=0;
  float rulex1, rulex2, rulex3, rulex4, rulex5, rulex6, rulex7, rulex8, rulex9, rulex10, rulex11, rulex12, rulex13, rulex14, rulex15, rulex16, rulex17, rulex18, rulex19, rulex20, rulex21 =0;
  float ruley1, ruley2, ruley3, ruley4, ruley5, ruley6, ruley7, ruley8, ruley9, ruley10, ruley11, ruley12, ruley13, ruley14, ruley15, ruley16, ruley17, ruley18, ruley19, ruley20, ruley21 =0;
  float output1, output2, output3, output4, output5, output6, output7, output8, output9, output10, output11, output12, output13, output14, output15, output16, output17, output18, output19, output20, output21 =0;
  float steering1, steering2, steering3, steering4, steering5, steering6, steering7, steering8, steering9, steering10, steering11, steering12, steering13, steering14, steering15, steering16, steering17, steering18, steering19, steering20, steering21 =0;
  float speed1, speed2, speed3, speed4, speed5, speed6, speed7, speed8, speed9, speed10, speed11, speed12, speed13, speed14, speed15, speed16, speed17, speed18, speed19, speed20, speed21 =0;
 
 
  float motor_speed;
  int steering_angle;
  float centroid_x=0;
  float centroid_y=0;
  float total_x=0;
  float total_y=0;
  float target_x=0;
  float target_y=0;
 
  CMUcam4_image_data_t f_data;
  CMUcam4_tracking_data_t t_data;
 
  cam.trackColor(RED_MIN, RED_MAX, GREEN_MIN, GREEN_MAX, BLUE_MIN, BLUE_MAX);
  cam.getTypeTDataPacket(&t_data); // Get a tracking packet.
  cam.getTypeFDataPacket(&f_data); // Get an image packet.
 
  for (int y=14; y<49; y=y+2)
  {
    int blackcount=0;
    int blacksum=0;
   
    for (int x=9; x<70; x++)
    { 
      if(cam.getPixel(&f_data,y,x)==1)
      {
        blackcount=blackcount+1;
        blacksum=blacksum+x;
      }
    }
   
    if (blackcount==0)
    {
      centroid_x=0;
      centroid_y=0;
    }
     
    else
    {
      centroid_x=blacksum/blackcount;
      centroid_y=y;
      N=N+1;
    }
   
   
    total_x=total_x+centroid_x;
    total_y=total_y+centroid_y;
       
  }
 
  if (N!=0)
  {
    target_x=total_x/N;
    target_y=total_y/N;
   
    Serial.print("targetx=");
    Serial.print(target_x);
    Serial.print(" targety=");
    Serial.println(target_y);
   
    if ((target_x>9.0&&target_x<=27.0)&&(target_y>0.0 &&target_y<=10.0))  // rule 1
    {
      if (target_x>9.0&&target_x<=18.0)
      rulex1=target_x/(9.0)-1.0;
      else if(target_x>18.0&&target_x<=27.0)
      rulex1=target_x/(-9.0)+3.0;
      else
      rulex1=0.0;
   
      if (target_y>0.0&&target_y<=5.0)
      ruley1=target_y/(5.0);
      else if(target_y>5.0&&target_y<=10.0)
      ruley1=target_y/(-5.0)+2.0;
      else
      ruley1=0.0;
     
      output1=min(rulex1,ruley1);
      steering1=abs(output1)*77.0;
      speed1=abs(output1)*150.0;
    }
 
    if ((target_x>9.0&&target_x<=27.0)&&(target_y>5.0&&target_y<=15.0))  // rule 2
    {
      if (target_x>9.0&&target_x<=18.0)
      rulex2=target_x/(9.0)-1.0;
      else if(target_x>18.0&&target_x<=27.0)
      rulex2=target_x/(-9.0)+3.0;
      else
      rulex2=0.0;
   
      if (target_y>5.0&&target_y<=10.0)
      ruley2=1.0/5.0*target_y-1.0;
      else if(target_y>10.0&&target_y<=15.0)
      ruley2=(-1.0/5.0)*target_y+3.0;
      else
      ruley2=0.0;
   
      output2=min(rulex2,ruley2);
      steering2=abs(output2)*77.0;
      speed2=abs(output2)*110.0;
    }
 
    if (target_x>9&&target_x<=27&&target_y>10&&target_y<=20)  // rule 3
    {
      if (target_x>9.0&&target_x<=18.0)
      rulex3=1.0/9.0*target_x-1.0;
      else if(target_x>18.0&&target_x<=27.0)
      rulex3=-1.0/9.0*target_x+3.0;
      else
      rulex3=0.0;
   
      if (target_y>10.0&&target_y<=15.0)
      ruley3=1.0/5.0*target_y-2.0;
      else if(target_y>15.0&&target_y<=20.0)
      ruley3=(-1.0/5.0)*target_y+4.0;
      else
      ruley3=0;
   
      output3=min(rulex3,ruley3);
      steering3=abs(output3)*60.0;
      speed3=abs(output3)*110.0;
    }
 
    if ((target_x>9&&target_x<=27)&&(target_y>15&&target_y<=35))  // rule 4
    {
      if (target_x>9.0&&target_x<=18.0)
      rulex4=1.0/9.0*target_x-1.0;
      else if(target_x>18.0&&target_x<=27.0)
      rulex4=-1.0/9.0*target_x+3.0;
      else
      rulex4=0.0;
   
      if (target_y>15&&target_y<=25)
      ruley4=1.0/10.0*target_y-1.5;
      else if(target_y>25&&target_y<=35)
      ruley4=(-1.0/10.0)*target_y+3.5;
      else
      ruley4=0.0;
   
      output4=min(rulex4,ruley4);
      steering4=abs(output4)*60;
      speed4=abs(output4)*75;
    }
 
    if ((target_x>9&&target_x<=27)&&(target_y>25&&target_y<=59))  // rule 5
    {
      if (target_x>9.0&&target_x<=18)
      rulex5=1.0/9.0*target_x-1.0;
      else if(target_x>18.0&&target_x<=27.0)
      rulex5=-1.0/9.0*target_x+3.0;
      else
      rulex5=0.0;
   
      if (target_y>25.0&&target_y<=42)
      ruley5=1.0/17.0*target_y-25.0/27.0;
      else if(target_y>42.0&&target_y<=59)
      ruley5=(-1.0/17.0)*target_y+59.0/17.0;
      else
      ruley5=0.0;
   
      output5=min(rulex5,ruley5);
      steering5=abs(output5)*60;
      speed5=abs(output5)*75;
    }
 
 
  float total_output=output1+output2+output3+output4+output5+output6+output7+output8+output9+output10+output11+output12+output13+output14+output15+output16+output17+output18+output19+output20+output21;
  steering_angle=(steering1+steering2+steering3+steering4+steering5+steering6+steering7+steering8+steering9+steering10+steering11+steering12+steering13+steering14+steering15+steering16+steering17+steering18+steering19+steering20+steering21)/total_output;
  motor_speed=(speed1+speed2+speed3+speed4+speed5+speed6+speed7+speed8+speed9+speed10+speed11+speed12+speed13+speed14+speed15+speed16+speed17+speed18+speed19+speed20+speed21)/total_output;
 
   
  Serial.print(steering_angle);
  Serial.print("  ");
  Serial.println(motor_speed);
   
   
   sservo.write(steering_angle);
   analogWrite(motor,motor_speed);
  }
     
  else
  {
   sservo.write(90);
   analogWrite(motor,0);
  }
     
  Serial.print("  steering angle=");
  Serial.print(steering_angle);
 
  Serial.print("  running speed=");
  Serial.println(motor_speed);
   
 
}

  // Do something else here.

[Reply #6 on:]

Code:

  float rulex1, rulex2, rulex3, rulex4, rulex5, rulex6, rulex7, rulex8, rulex9, rulex10, rulex11, rulex12, rulex13, rulex14, rulex15, rulex16, rulex17, rulex18, rulex19, rulex20, rulex21 =0;
  float ruley1, ruley2, ruley3, ruley4, ruley5, ruley6, ruley7, ruley8, ruley9, ruley10, ruley11, ruley12, ruley13, ruley14, ruley15, ruley16, ruley17, ruley18, ruley19, ruley20, ruley21 =0;
  float output1, output2, output3, output4, output5, output6, output7, output8, output9, output10, output11, output12, output13, output14, output15, output16, output17, output18, output19, output20, output21 =0;
  float steering1, steering2, steering3, steering4, steering5, steering6, steering7, steering8, steering9, steering10, steering11, steering12, steering13, steering14, steering15, steering16, steering17, steering18, steering19, steering20, steering21 =0;
  float speed1, speed2, speed3, speed4, speed5, speed6, speed7, speed8, speed9, speed10, speed11, speed12, speed13, speed14, speed15, speed16, speed17, speed18, speed19, speed20, speed21 =0;

You got something against carriage returns?

How about arrays?

[Reply #7 on:]

actually i use arrays to store the velue, but i having problem in that.

Code:

if (blackcount==0)
    {
      centroid_x=0;
      centroid_y=0;
    }
     
    else
    {
      centroid_x=blacksum/blackcount;
      centroid_y=y;
      N=N+1;
    }

i use arrays to store the centroid_x and centroid_y, but these two arrays give me the same result, which is not right. so, i declare all the variable. i will change to arrays after i done with the fuzzy problem.

the problem is whenever i use the

target_x=total_x/N;
target_y=total_y/N;

to the fuzzy system, the system goes wrong, if i give value to the target_x and target_y, the system ok. i try to print out the target_x and target_y, the values are ok. whats going wrong actually??

[Reply #8 on:]

Code:

  for (int y=14; y<49; y=y+2)
  {
    int blackcount=0;
    int blacksum=0;
   
    for (int x=9; x<70; x++)

What do these magic numbers mean?

[Reply #9 on:]

Code:

float total_output=output1+output2+output3+output4+output5+output6+output7+output8+output9+output10+output11+output12+output13+output14+output15+output16+output17+output18+output19+output20+output21;
  steering_angle=(steering1+steering2+steering3+steering4+steering5+steering6+steering7+steering8+steering9+steering10+steering11+steering12+steering13+steering14+steering15+steering16+steering17+steering18+steering19+steering20+steering21)/total_output;
  motor_speed=(speed1+speed2+speed3+speed4+speed5+speed6+speed7+speed8+speed9+speed10+speed11+speed12+speed13+speed14+speed15+speed16+speed17+speed18+speed19+speed20+speed21)/total_output;

Put the arrays back, this is ridiculous.

[Reply #10 on:]

Code:

  float rulex1, rulex2, rulex3, rulex4, rulex5, rulex6, rulex7, rulex8, rulex9, rulex10, rulex11, rulex12, rulex13, rulex14, rulex15, rulex16, rulex17, rulex18, rulex19, rulex20, rulex21 =0;

Take a close look at this line. See the init only on the last float? You have an overflow because all the rest are random. I'm sorry but the code was a little tl;dr with too many variables for me to be able to tell where they all still initialized to some value, but that's what caught my eye as a curiosity.. Just use the array and initialize them in a loop.

[Reply #11 on:]

i use arrays to store the centroid_x and centroid_y, but these two arrays give me the same result, which is not right. so, i declare all the variable.

That is utterly bonkers. I think you're completely wasting your time with that approach - and ours.