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536. Mohd Rudi Abdullah "Rekabentuk Pemampat Spring : Mcpherson Strut" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2005.
537. Mohd Rusllim Mohamed "Decision Tree Based Approach For Online Management Of Pem Fuel Cells For Residential Application Mohd Rusllim Mohamed" Master Degree KUiTTHO, .
538. Mohd Rusydi Mohd Ramli "Penggunaan Pemodelan Logik Kabur (fuzzy Logic) Dalam Meramal Kualiti Produk Berasaskan Kepada Kawalan Kualiti" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2005.
539. Mohd Sabri Hussin "Pembinaan Web Cd Pembelajaran Bagi Matapelajaran Lukisan Berbantukan Komputer (autocad) Dalam Penghasilan Permodelan 3d" Master Degree Universiti Tun Hussein Onn Malaysia, 2003.
540. Mohd Sabri Salleh "Modeling A Vibration Shock Absorber On Bmx Bicycle Mohd Sabri Salleh" Bachelor Degree KUiTTHO, 2004.
541. Mohd Safirul Mohd Noor "Kajian Ke Atas Sikap Pelajar Dan Pensyarah Terhadap Amalan Keselamatan Bengkel Dan Makmal Kajian Kes Di Politeknik Sultan Abdul Halim Muadzam Shah Mohd Safirul Mohd Noor" Master Degree KUiTTHO, 2002.
542. Mohd Saifuddin Ahmad "Study Of Mechanical Properties On Metal Matrix Composite (mmc) With Modified Stir Casting Method" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2003.
543. Mohd Saiful Ibrahim "Pengawalan Kos Projek Pembinaan (kajian Kes Di Selangor Dan Kuala Lumpur)" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2006.
544. Mohd Salim Abdul Wahab "Weaving Mill Management Fabric Style Canvas Mohd Salim Abdul Wahab" Bachelor Degree KUiTTHO, .
545. Mohd Sani Ahmad "Kajian Tehadap Pengaruh Tindakan Daya Pemotongan Pada Kehausan Dan Hayat Mata Alat Mohd Sani Ahmad" Bachelor Degree KUiTTHO, .
546. Mohd Sarizal Abu Bakar "Study Of Capillary Effect On Porous Ceramic Mohd Sarizal Abu Bakar" Bachelor Degree KUiTTHO, .
547. Mohd Sazali Salleh "Membangunkan Sistem Inventori Bagi Peralatan Makmal" Master Degree Universiti Tun Hussein Onn Malaysia, 2005.
548. Mohd Shahril Mohd Hassan Abd Ghani "Penggunaan Tanah Liat Sebagai Pengisi Untuk Polimer Termoplastik Mohd Shahril Mohd Hassan Abd Ghani" Bachelor Degree KUiTTHO, .
549. Mohd Shahrim Hashim "Pengangkutan Sedimen Dan Kualiti Air Di Sungai Batu Pahat Mohd Shahrim Hashim" Bachelor Degree KUiTTHO, .
550. Mohd Shahrin Mohd Shah "Kajian Kumai Kimpalan Arka Tungsten Gas Terhadap Plat Keluli C1020" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2003.
551. Mohd Shahrir Ahmad Zaini "Konsep Keislaman Dalam Rekabentuk Kurikulum Pelancongan Di Sebuah Politeknik Kementerian Pendidikan Malaysia" Master Degree Universiti Tun Hussein Onn Malaysia, 2002.
552. Mohd Shahrizan Ahmad Fadzil "Cae For Injection Mould Making Mohd Shahrizan Ahmad Fadzil" Bachelor Degree KUiTTHO, .
553. Mohd Shahrizat Walat "Kajian Terhadap Mikrostruktur Bahan Logam Karbida Tungsten Selepas Pemesinan Edm" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2003.
554. Mohd Shakirin Ab Rahim "Kajian Kes Keberkesanan Kedudukan Stor Pusat Kuittho Mohd Shakirin Ab Rahim" Bachelor Degree KUiTTHO, .
555. Mohd Shamian Zainal "Statistical Analysis And Filter Design For Conducted Emission Noise Mohd Shamian Zainal" Master Degree KUiTTHO, .
556. Mohd Shari Shafuan Mohamed Yusof "Cusum And Ewma Charting Procedure For Monitoring Process Shift" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2003.
557. Mohd Sherie Zukfli "Sistem Perenjis Air Berasaskan Logik Kabur" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2005.
558. Mohd Suhizan Siman "Kajian Pengaruh Tindakan Daya Pemotongan Terhadap Kekasaran Permukaan Bahan Kerja (mild Steel)" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2003.
559. Mohd Taufik Syazeli Zaidi "Penghasilan Sebuah Prototaip Bot Kawalan Jauh Menggunakan Mesin Rp Jenis Fdm" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2004.
560. Mohd Yahya Saad "Mesin Pengisih Automatik Automatic Sorting Machine Mohd Yahya Saad" Bachelor Degree KUiTTHO, .
561. Mohd Yusaini Mohamed Ali "Kajian Ke Atas Sistem Grid Di Malaysia Perancangan Sistem Penghantaran Mohd Yusaini Mohamed Ali" Bachelor Degree KUiTTHO, .
562. Mohd Yusri Abu Samah "Application Of Additive And Binder Materials In Ceramic Filter Production For Aluminium Alloy Casting Process Mohd Yusri Abu Samah" Bachelor Degree KUiTTHO, .
563. Mohd Yusri Rabae'i "Ujian Prestasi Terhadap Radas "universal Pump Test Set''" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2003.
564. Mohd Zafifi Zakaria "Kajian Rawatan Haba Pengerasan Mendakan Terhadap Aloi Aluminium 2014 Mohd Zafifi Zakaria" Bachelor Degree KUiTTHO, .
565. Mohd Zaidi Che Mod "Analisis Kekuatan Galas Bahan Berbitumen Yang Diguna Semula Mohd Zaidi Che Mod" Bachelor Degree KUiTTHO, .
566. Mohd Zaidi Hamzah "Pengerasan Terikan Dan Lindap Kejut Serta Kesannya Terhadap Mikrostruktur Dan Sifat Mekanikal Aloi Aluminium Mohd Zaidi Hamzah" Bachelor Degree KUiTTHO, .
567. Mohd Zaim Zakaria "Pembangunan Video Dokumentari Pendidikan Bagi Mata Pelajaran Teknologi Konkrit Mohd Zaim Bin Zakaria" Master Degree KUiTTHO, .
568. Mohd Zainal Mat Il "Hubungan Di Antara Status Sosio Ekonomi (sse) Keluarga Dengan Pencapaian Akademik : Satu Kajian Ke Atas Pelajar Aliran Teknikal Di Sekolah Menengah Teknik Negeri Sembilan" Master Degree Universiti Tun Hussein Onn Malaysia, 2004.
569. Mohd Zainizan Sahdan "Mask Design Fabrication And Test Nmos Transistor Mohd Zainizan Sahdan" Master Degree KUiTTHO, .
570. Mohd Zainudin Mohd Naim "Kajian Sumber Tenaga Air Dan Merekebentuk Suatu Model Ringkas Mohd Zainudin Mohd Naim" Bachelor Degree KUiTTHO, .
571. Mohd Zairi Mohammad Basri "Kajian Terhadap Sifat Sifat Mekanikal Bagi Campuran Poliester Dengan Serbuk Kayu Kayu Meranti Merah Mohd Zairi Mohammad Basri" Bachelor Degree KUiTTHO, .
572. Mohd Zubir Yahya "Analisis Sifat Mekanikal Campuran Poliester Dengan Polistirena (kotak Pembungkus Makanan)" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2005.
573. Mohd Zulhasnan Mat "Aplikasi Sistem Maklumat Stok Dan Inventori Makmal Jptv Mohd Zulhasnan Mat" Master Degree KUiTTHO, .
574. Mohd Zuriman Mohd Bakri "Development Of Leaf Spring From Rattan Mohd Zuriman Mohd Bakri" Bachelor Degree KUiTTHO, .
575. Mohd. Nizam Mat Isa "Persepsi Pensyarah Tentang Program Perkembangan Staf Politenik Sultan Abdul Halim Mu'adzam Shah (polimas)" Master Degree Universiti Tun Hussein Onn Malaysia, 2002.
576. Mohyiddin Salleh "Pengaruh Sejatpeluhan Dengan Tanah Pasir Dan Tumbuhan Mohyiddin Salleh" Bachelor Degree KUiTTHO, 1996.
577. Moliady Fahme Mohamed @ Abd Ghani "Failure Investigation Of Boiler Tube-microstructural Study" Bachelor Degree Universiti Tun Hussein Onn Malaysia, 2005.
578. Mu Ammar Shakir Zainal Abidin "Pembinaan E Modul Analisis Rangkaian Elektrik Mu Ammar Shakir Zainal Abidin" Bachelor Degree KUiTTHO, .
579. Muaz Ariffin Ahmad "Keberkesanan Sistem Sel Dalam Meningkatkan Produktiviti-satu Kajian Kes" Bachelor Degree Kolej Universiti Teknologi Tun Hussein Onn, 2003.
580. Mugunthan Narayanan "Improvement To The Design Of The Available Hydraulic Jack Mugunthan Narayanan" Bachelor Degree KUiTTHO, .
581. Muhadir Saeman "Kajian Keberkesanan Kumpulan Peningkatan Kualiti Qit Di Dalam Meningkatkan Prestasi Kerja Muhadir Saeman" Bachelor Degree KUiTTHO, 2002.
582. Muhamad Fadzli Janadin "Kajian Terhadap Tahap Kesedaran Keselamatan Dan Kesihatan Di Kolej Universiti Teknologi Tun Hussein Onn Muhamad Fadzli Janadin" Bachelor Degree KUiTTHO, 2003.
583. Muhamad Faiz Jofri "Simulasi Terma Di Dalam Kereta Pada Keadaan Statik Muhamad Faiz Jofri" Bachelor Degree KUiTTHO, 2002.
584. Muhamad Hafiz Harun "Kajian Kaedah Penyelenggaraan Sistem Pengendalian Udara Di Istana Budaya Kuala Lumpur Muhamad Hafiz Harun" Bachelor Degree KUiTTHO, .
585. Muhamad Khairudin Awang "Kajian Gayalaku Lesu Komposit Plastik Bertetulang Gentian Kaca Muhamad Khairudin Awang" Bachelor Degree KUiTTHO, 2002.
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Using the CMUcam on your robot is easy. This tutorial will detail using the CMUcam1.
Here is the CMUcam manual: http://www.seattlerobotics.com/CMUcamManualv15A.pdf
First apply power to the CMUcam as shown in this diagram:
Then connect the Data wires as shown in this diagram. Be sure to remove the Max232 chip.
Connect the GND wire of the CMUcam to a GND pin on your microcontroller. Connect the SX28 Transmit pin to your Rx pin of the microcontroller( on the Axon I chose to use the Rx of UART0). Connect the SX28 Receive pin to your Tx pin of the microcontroller (on the Axon I chose the Tx of UART0).
Now that the electrical connections are set up , we move on to programming.
NOTE: The following code was made for the Axon microcontroller , but can easily be adapted.
UART Initialization:
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 115200); // set UARTE speed, for Bluetooth , this is the UART port
CMUcam Initialization
void CMUcam_Initialize(void)
{
rprintfInit(uart0SendByte);//change UART to CMUcam
rprintf("RS"); // Reset CMUcam
delay_ms(500); // wait 500 milliseconds
rprintf("cr 18 44"); // Set CMUcam to AutoExposure
delay_ms(500); // wait 500 milliseconds
rprintf("RM 1"); // Set CMUcam to Raw Serial Mode
delay_ms(500); // wait 500 milliseconds
rprintfInit(uart1SendByte);//change UART to USB
rprintf("CMUcam Initialized"); // send out the message through USB
}
Set Tracking of CMUcam
rprintfInit(uart0SendByte);
rprintf("TC 90 250 0 20 0 20"); // set tracking to this specific color// format is minRed maxRed minGreen maxGreen minBlue maxBlue
delay_us(500); // wait 500 microseconds
Get Tracking Data
int CMUcam_MiddleMass(void) //echos # of characters expected for each command
{
int temp; // set up temporary variable
int counter=0; //set the counter to 0
int echo_counter=0; // set the echo_counter to 0
int temp1;
rprintfInit(uart1SendByte);//change UART to bluetooth
temp = uart0GetByte(); // Get a Byte
while (temp != 255) { // Keep on getting new bytes until the byte = 255
temp = uart0GetByte();
}
rprintf("Start= %d ",temp);
temp = uart0GetByte(); // Get a Byte
while (temp != 77) { // Keep on getting new bytes until the byte = 'M'
temp = uart0GetByte();
}
rprintf("M= %d ",temp);
echo_counter = 8; // expect 8 bytes ( 0 thru 7)
while(1) {
temp=uart0GetByte();//returns -1 if no data present
response[counter]=temp;//store values into an array
counter++; // add one to "counter" array
if(counter == echo_counter) // once the counter equals the echo_counter
{
// successfully captured the entire M packet
uartFlushReceiveBuffer(0);//flush out receive camera buffer to stop phase shifting
delay_us(100);
temp1 = response[0];
rprintf("MiddleMassX= %d ",temp1);
temp1 = response[1];
rprintf("MiddleMassY= %d ",temp1);
temp1 = response[2];
rprintf("MinimumX= %d ",temp1);
temp1 = response[3];
rprintf("MinimumY= %d ",temp1);temp1 = response[4];
rprintf("MaximumX= %d ",temp1);
temp1 = response[5];
rprintf("MaximumY= %d ",temp1);temp1 = response[6];
rprintf("Pixels= %d ",temp1);temp1 = response[7];
rprintf("Confidence= %d ",temp1);
return response[0]; // return MiddleMass of X axis
} //endif
} // end while
} // end sub
Sample Program
int data;
CMUcam_Initialize(); // Initialize CMUcam
// format is minRed maxRed minGreen maxGreen minBlue maxBlue
rprintfInit(uart0SendByte);
rprintf("TC 90 250 0 20 0 20"); // set tracking to this specific color
delay_us(500); // wait 500 microsecondswhile(1) {
data = CMUcam_MiddleMass(); // get the MiddleMass value
if (data > 40) {
// do stuff, turn left, etc.
} //end if
if (data <40)>
// do stuff, turn right, etc.
} // end if
} //end while
Heres an example of a robot you can create using my code:
