Video Recognition Code

#include (Servo.h)

int ir_pin = 7; //Sensor pin 1 wired through a 220 ohm resistor
int led_pin = 11; //"Ready to Receive" flag, not needed but nice
int debug = 1; //Serial connection must be started to debug
int start_bit = 3800; //Start bit threshold (Microseconds)
int bin_1 = 1900; //Binary 1 threshold (Microseconds)
int bin_0 = 900; //Binary 0 threshold (Microseconds)
int data[13];
int rm1=3;
int rm2=2;

int lm1=5;
int lm2=4;

int start=0;
int motor_initial = 0;

int servo_angle=80;
int key;

char incomingByte;
int velocity=0;


//#define servo_initial = 80;
Servo servo1;


void setup() {
pinMode(led_pin, OUTPUT);
pinMode(6, INPUT);
pinMode(7, INPUT);
pinMode(8, INPUT);//This shows when we're ready to receive
pinMode(9, INPUT);
pinMode(rm2, OUTPUT);
pinMode(lm2, OUTPUT);

digitalWrite(rm2, LOW);
digitalWrite(lm2, LOW);
digitalWrite(led_pin, LOW); //not ready yet
Serial.begin(57600);
delay(100);
Serial.print("start");
servo1.attach(10);

analogWrite(rm1,start);
analogWrite(lm1,start);
servo1.write(80);

}




int getIRKey()
{

digitalWrite(led_pin, HIGH); //Ok, i'm ready to recieve
//while(pulseIn(ir_pin, HIGH) < start_bit) { //Wait for a start bit

data[0] = pulseIn(ir_pin, HIGH); //Start measuring bits, I only want low pulses
data[1] = pulseIn(ir_pin, HIGH);
data[2] = pulseIn(ir_pin, HIGH);
data[3] = pulseIn(ir_pin, HIGH);
data[4] = pulseIn(ir_pin, HIGH);
data[5] = pulseIn(ir_pin, HIGH);
data[6] = pulseIn(ir_pin, HIGH);
data[7] = pulseIn(ir_pin, HIGH);
data[8] = pulseIn(ir_pin, HIGH);
data[9] = pulseIn(ir_pin, HIGH);
data[10] = pulseIn(ir_pin, HIGH);
data[11] = pulseIn(ir_pin, HIGH);
data[12] = pulseIn(ir_pin, HIGH);
digitalWrite(led_pin, LOW);


if(debug == 1) {
Serial.println("-----");
}
for(int i=1;i<=12;i++) { //Parse them
if (debug == 1) {
//Serial.println(data[i]);
}
if(data[i] > bin_1) { //is it a 1?
data[i] = 1;
//Serial.print("1");
}
else {
if(data[i] > bin_0) { //is it a 0?
data[i] = 0;
//Serial.print("0");
}
else {
data[i] = 2;
//Serial.print("Error"); //Flag the data as invalid; I don't know what it is!
}
}
}

for(int i=1;i<=12;i++)
{ //Pre-check data for errors
if(data[i] > 1)
{
return -1; //Return -1 on invalid data
}
}

int result = 0;
int seed = 1;
for(int i=12;i>=9;i--)
{ //Convert bits to integer
if(data[i] == 1)
{

result += seed;
}
seed = seed * 2;

}
return result; //Return key number

}

void decode_IR()
{
switch(key)
{
case 2:
servo_angle = servo_angle + 4;
servo1.write(servo_angle);
break;

case 8:
servo_angle = servo_angle - 4;
servo1.write(servo_angle);
break;

case 4:
if(start<255)
{
start = start + 4;
analogWrite(rm1, start);
analogWrite(lm1, 0);
}
// delay(100);
//digitalWrite(lm2, HIGH);
break;

case 6:
if(start<255)
{
start = start + 4;
analogWrite(lm1, start);
analogWrite(rm1, 0);
}


//delay(100);
//digitalWrite(rm2, HIGH);

break;

case 5:
servo_angle=80;
start=0;
analogWrite(rm1, 0);
analogWrite(lm1, 0);
digitalWrite(rm2, LOW);
digitalWrite(lm2, LOW);
servo1.write(80);
break;

case 12:
if(start>-255)
{
start = start-4;
throttle();
}
break;

case 13:

if(start<255)
{
start = start+4;
throttle();
}
break;

}


}

void throttle()
{
if(start>0 && start<255)
{
digitalWrite(lm2, LOW);
digitalWrite(rm2, LOW);
analogWrite(rm1, start);
analogWrite(lm1, start);
}
else if (start<0>-255)
{
digitalWrite(lm2, HIGH);
digitalWrite(rm2, HIGH);
analogWrite(rm1, 255+start);
analogWrite(lm1, 255+start);
}
}


void loop()
{


for(ir_pin=6;ir_pin<10; ir_pin++)
{
serial_input();

if(pulseIn(ir_pin, LOW, 5000) > start_bit)
{
key = getIRKey(); //Fetch the key
if (key != -1)
{
//Serial.print(" Key Recieved: ");
//Serial.println(key);
}
// if(data[0]=1, data[1]=1, data[2]=1, data[3]=1, data[4]=0, data[5]=0, data[6]=1, data[7]=1)
//{
decode_IR();
//}

}
}


}

void serial_input()
{
//Serial.print("h");
if (Serial.available() > 0)
{
// read the incoming byte:
incomingByte = Serial.read();

// say what you got:
//Serial.print("I received: ");
//Serial.println(incomingByte);
serial_decode();
}

}

void serial_decode()
{
switch(incomingByte)
{
case '0' ... '9':
{
velocity = velocity*10;
velocity += int(incomingByte)-48;
//Serial.print(velocity);
break;
}

case 'w' :
{
//Serial.print(velocity);
analogWrite(rm1, velocity);
analogWrite(lm1, velocity);
digitalWrite(rm2, LOW);
digitalWrite(lm2, LOW);
delay(1000);
velocity = 0;
break;

}

case 's':
{
analogWrite(rm1, 0);
analogWrite(lm1, 0);
digitalWrite(rm2, LOW);
digitalWrite(lm2, LOW);
velocity = 0;
break;
}

case 'a':
{
analogWrite(rm1, velocity);
digitalWrite(rm2, LOW);
digitalWrite(lm2, HIGH);
analogWrite(lm1, 255-velocity);
velocity = 0;
break;
}

case 'd':
{
analogWrite(lm1, velocity);
digitalWrite(lm2, LOW);
digitalWrite(rm2, HIGH);
analogWrite(rm1, 255-velocity);
velocity = 0;
break;
}

case 'x':
{

analogWrite(lm1, 255 - velocity);
digitalWrite(lm2, HIGH);
digitalWrite(rm2, HIGH);
analogWrite(rm1, 255 - velocity);
velocity =0;
break;
}
}

}

Hooked up to RoboRealm, we first use the RGB filter to up the predominant colors of the thing we are looking at, and then we filter out anything that's not a specific color (ours was red). Then, we dilated the object and made it filter out any pixel that didn't meet a certain size requirement, to filter out any reddish objects in the background. Then we calculated the center of gravity of the object, and let the Java Script run the rest. Here is the Java.

cog_x = GetVariable("COG_X")

motor_output = "50w"

if(cog_x < 140) then
motor_output = "50d"

end if

if(cog_x >180) then
motor_output = "50a"

end if

SetVariable("MOTOR_OUTPUT"), motor_output

And there you go!