The control software was written using Microsoft Robotics Studio. I converted some of the RocketMan code into MSRS services and rewrote the rest from scratch. The software uses a DSS node running on the vehicle, and another on the backpack PC that the operator wears. I wrote several custom services as well as using the stock MSRS webcam and XInput services.
The operator can toggle between commander and driver views. A super-imposed reticule can be turned off. There's also a turret mounted laser aiming aid (and soon-to-be rangefinder) that the operator can turn on and off.
The marker elevation features a very fine control, but it's speed is proportional to the joystick deflection.
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This is the operator user interface. The tank status icon shows the direction of the turret and an indication of track motion. The options for fine control of the track speed and turret speed are enabled. The commander camera is a UniBrain Fire-i camera fitted with a roughly 2x optical lens. It has about a 25° field of view. Both the commander and driver cameras have three levels of digital zoom. So, the commander camera can view at 2x, 4x, 8x, and 16x. |
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The help screen showing the XBox 360 controller operations. |
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The next few photos were taken by the tank cameras. I have options to save a frame to the operator hard disk as a photo. This one shows the targeting reticule active. It's basically a crosshair set at the center of the commander camera frame. |
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The targeting laser is on, here. It's that little red dot just to the left of center. Will it work in full daylight ? We'll see ... |
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This is enhanced laser targeting. The software tries to pick out what it thinks is the laser point and put crosshairs there. It works great in my basement and at intermediate ranges outside. The feature hasn't been battle tested yet. |
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All the targeting aids engaged. |
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This is the driver view. The camera is a Logitech Notebook Ultra. It has a 63° horizontal field of view which gives it a little bit a 'fish eye' thing. |