DrRobot Jaguar Guia do Utilizador descarregar pdf (Página 24)

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It’s easier to read with a terminal program since the sensors’ measurements are reported in ASCII. DCM

estimation and all measurements are delimited with “,”characters as well as a carriage return and line feed at the

end of the data frame.

Format:

“ANG,roll,pitch,yaw,AN,gyroY,gyroZ,gyroX,accelX,accleY,accelZ,magnetomX, magnetomY, magnetomZ”

After “ANG”, roll, pitch, yaw are estimated angle value by on board DCM algorithm. The unit is degree.

After “AN”, the data are raw AD value for each sensor. Please note that the accelX, Y, Z value have been

adjusted by subtracting the offsets by on board firmware.

Sample data string:

“ANG,0,0,10,AN, 379,378,379,1,-2, 243,4096,-1558,256”

Camera with Two Way Audio

You need to install the camera ActiveX control on your system by running the “AXISMediaControlSDK.exe”. You

could find some sample codes (C++, C#, VB) in C:\Program Files\Axis Communications\AXIS Media Control

SDK\samples and the corresponding SDK documents in C:\Program Files\Axis Communications\AXIS Media

Control SDK\doc.

By using the Microsoft’s “Windows Media Encoder 9” and Axis video capture driver, you could also access this

camera in Intel’s OpenCV as same as accessing a USB camera.

Advanced Development

Please refer to document “GPS-IMU Sensor Module and Outdoor Autonomous Navigation Program” for detail on

autonomous navigation programming using the Jaguar GPS and IMU system module.

Support and sample codes are available for using OpenCV, LabVIEW and MATLAB. Please contact

[email protected] for further information.

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DrRobot Jaguar Guia do Utilizador Página 24