Bitmap Maze

Other Hardware Robotics
1

Hi everyone,

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects in it. I have a 52*96 pixel monochromatic bitmap of the maze which can be split into sections. Could that bitmap be converted into an array via the arduino so the wave front algorithm be implemented.
I'm going to be using an arduino mega with the image being read from an SD card.

http://www.societyofrobots.com/programming_wavefront.shtml

Thanks

2

Could that bitmap be converted into an array via the arduino so the wave front algorithm be implemented.

yes, why not
a mega has enough memory for that.

But be aware recursive algorithms can exhaust memory quite fast.

3

True, I'm still fairly new to the arduino platform and C code and have mostly worked with .NET.

Could you provide some examples, on the bitmap conversion , as I'm having a bit of trouble with the code.

Thanks

4

Would this work ?

void setup() {
  size(200, 200);

  PrintWriter output;
  output = createWriter("output.txt"); 

  PImage img;
  img = loadImage("input.bmp");
  image(img, 0, 0);

  output.println("static unsigned char PROGMEM bitmapName[] =");
  output.println("{");
  output.print("  ");
  output.print(img.width);
  output.print(",");
  output.print(img.height);
  output.println(", //width and height");

  img.loadPixels();

  for (int y = 0; y<img.height; y++) {
    output.print("  ");
    for (int x = 0; x<img.width; x+=8) {
      output.print("B");
      for (int b = 0; b<8; b++) {
        color thisColor = img.get(x+b, y);
        if (brightness(thisColor) > 100) {
          output.print("0");
          img.set(x+b, y, color(255));
        }
        else {
          output.print("1");
          img.set(x+b, y, color(0));
        }
      }
      output.print(", ");
    }
    output.println();
    if ((y%8)==7) {
      output.println();
    }
  }

  img.updatePixels();
  image(img, 0, 100);

  output.print("};");
  output.flush();
  output.close();
}

void draw() {
}

Credit goes to rodot, here: Gamebuino forum • View topic - bitmap encoding

5

just run it and you know...

6

Would this work ?

Processing code, on an Arduino? No. Processing is based on Java.

You CAN develop C++ classes to replace the Java/Processing classes that do all the work, but that is where the effort comes in.

7

Well, that makes sense. I was having trouble with my SD shield but now I've got it to work, isn't there a alternative than to write classes.

I think I got somewhere, using frollard's code here , I was able to get this. (file attached)

void loadBMPinfo() 
{
byte heightByte[4]; 
height = 0; //start with a zero'd signed long, 4 bytes.
myFile.close();  
myFile = SD.open(fileName, FILE_READ);
//Serial.print("BitmapOffsetStart:");
//Serial.println(bitmapOffset,HEX);
myFile.seek (0x16); //goto start byte of bitmap height 
for (int i = 0; i < 4; i++){  //height is a 4 byte integer stored in reverse byte order
heightByte[i] = myFile.read();
} //end for grab
for (int i = 3; i > 0; i--){ //3 2 1 not zero
height = height | heightByte[i]; //add the i'th byte
height = height << 8;            //bitshift everything 1 byte left
}
height = height | heightByte[0]; 
myFile.seek(0xA);
bitmapOffset = myFile.read();

//myFile.close(); 
//Serial.print("BitmapOffset:");   //debug if the bitmap data offset is correct
//Serial.println(bitmapOffset,HEX);
//Serial.print("Height:");
//Serial.println(height);
} //end void loadBMPinfo()

Result.txt (28.4 KB)