Texas Ranger, a WRT54GL R.O.V. (updated -interface pics)
This is a Linksys WRT54GL wifi operated ROV. It is managed using one of the available serial ports of the router. It is connected to a 16f876 PIC wich controls telemetry, onboard nunchuck readings and manages servo position, laser and cannon firing sending data to a second PIC. both PICs and nunchuck are using the same I2C bus.
Onboard Nunchuck is used to turret tilt compensation, reading data by first PIC, and sending servo position to the second one.
A background running, cross-compiled C program for OpenWRT is used to communicate from router to PIC.
Laser pointer makes possible distance measurements. Another program, running in router, reads image data from IP Cam, decompress JPEG format, using libjpeg lib, locates the most bright pixed in a defined area, and estimates the distance by trangulation. Data is showed drawing a canvas HTML5 powered green cross on the web interface. You can view this in the attached video.
Web is builded putting an invisible iframe in the same location that cam image frame.
BB airsoft balls are the ammo for cannons.
UPDATE (1) Some web interface pics:
Interface is completely web interfaced. Mouse movements allows pan-tilt turret control, sending AJAX requests to the router.
Telemetry comes from reverse AJAX request.
First and second pic shows turret pan-tilt orientation in degrees, calculated from servo PWM
Third shows distance estimation to target, when laser is active.
Last shows current battery voltage
Green circles are painted by HTML5 canvas object. They are a graphic representation of g acceleration of x and y axis.
Displayed HUD is a transparent iframe and some ascii art ;), drawing the pan-tilt turret orientation.
In the first image, dot firing is indicating that left cannon is selected, and armed, and is ready to open fire :)
Now firing with the left cannon, and showing the measured distance, pointing to the laser dot. Percentage determines how much accurate is the current reading.(RGB value near to white)
The same pic, without firing. No weapon selected.
Circle x-axis accel. turns yellow if accel increases too much. In this image turret is not self-compensated to explain better that situation.
Same pic, with the y-axis. Red circle tell us that this situation is dangerous because of too much g accel !!!!