Peralatan yang dibutuhkan:

- Arduino Mega 2560
- Pan/Tilt Servo
- Cammera Webcam
- Laptop Ubuntu
- OpenCV yang sudah terinstal


Rangkaian:








Software:
Code untuk OpenCV:
#include <opencv/cvaux.h>
#include <opencv/highgui.h>
#include <opencv/cxcore.h>
#include <stdio.h>

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <math.h>
#include <float.h>
#include <limits.h>
#include <time.h>
#include <ctype.h>
#include <unistd.h>

int main(int argc, char* argv[])
{

// Default capture size - 640x480
CvSize size = cvSize(640,480);
//CvSize size = cvSize(320,240);
// Open capture device. 0 is /dev/video0, 1 is /dev/video1, etc.
CvCapture* capture = cvCaptureFromCAM(1);
if( !capture )
{
fprintf( stderr, "ERROR: capture is NULL \n" );
getchar();
return -1;
}

// Create a window in which the captured images will be presented
cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "EdgeDetection", CV_WINDOW_AUTOSIZE );

// Detect a red ball
CvScalar hsv_min = cvScalar(150, 84, 130, 0);
CvScalar hsv_max = cvScalar(358, 256, 255, 0);

IplImage * hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3);
IplImage* thresholded = cvCreateImage(size, IPL_DEPTH_8U, 1);

while( 1 )
{
// Get one frame
IplImage* frame = cvQueryFrame( capture );
if( !frame )
{
fprintf( stderr, "ERROR: frame is null...\n" );
getchar();
break;
}

// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
cvCvtColor(frame, hsv_frame, CV_BGR2HSV);
// Filter out colors which are out of range.
cvInRangeS(hsv_frame, hsv_min, hsv_max, thresholded);

// Memory for hough circles
CvMemStorage* storage = cvCreateMemStorage(0);
// hough detector works better with some smoothing of the image
cvSmooth( thresholded, thresholded, CV_GAUSSIAN, 9, 9 );
CvSeq* circles = cvHoughCircles(thresholded, storage, CV_HOUGH_GRADIENT, 2,
thresholded->height/4, 100, 50, 10, 400);

for (int i = 0; i < circles->total; i++)
{
float* p = (float*)cvGetSeqElem( circles, i );
//int* p=(int*)b;

        FILE *file;
        file = fopen("/dev/ttyACM0","w");

        //printf("Ball! x=%f y=%f r=%f\n\r",p[0],p[1],p[2] );

        int a=1,b=2,c=3,d=4;


    if((p[0]<320.000000)&&(p[1]<240.000000)){
          fprintf(file,"%d",a);
      printf("a\n");
        }
        else if((p[0]>320.000000)&&(p[1]<240.000000)){
          fprintf(file,"%d",b);
         printf("b\n");
    }
        else if((p[0]>320.000000)&&(p[1]>240.000000)){
          fprintf(file,"%d",c);
         printf("c\n");
    }        
        else if((p[0]< 320.000000)&&(p[1]>240.000000)){
          fprintf(file,"%d",d);
     printf("d\n");
        }

    fclose(file);
    //open serial       
         // fclose(file);
//        sleep(0.5);



cvCircle( frame, cvPoint(cvRound(p[0]),cvRound(p[1])),
3, CV_RGB(0,255,0), -1, 8, 0 );
cvCircle( frame, cvPoint(cvRound(p[0]),cvRound(p[1])),
cvRound(p[2]), CV_RGB(255,0,0), 3, 8, 0 );

sleep(0.5);

}

cvShowImage( "Camera", frame ); // Original stream with detected ball overlay
cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
cvShowImage( "After Color Filtering", thresholded ); // The stream after color filtering

cvReleaseMemStorage(&storage);

// Do not release the frame!

//If ESC key pressed, Key=0x10001B under OpenCV 0.9.7(linux version),
//remove higher bits using AND operator
if( (cvWaitKey(10) & 255) == 27 ) break;
}

// Release the capture device housekeeping
cvReleaseCapture( &capture );
cvDestroyWindow( "mywindow" );
return 0;
}



code untuk arduino:
#include <Servo.h>
Servo tilt;
Servo pan;
int i=90,j=90;
char incomingByte = 0;   // for incoming serial data

void setup(){
    tilt.attach(9);
    pan.attach(10);
    Serial.begin(9600);
     tilt.write(90);
     pan.write(90);   
}

void satu(){
          pan.write(i);
          tilt.write(j);
          i=i+1;
          j=j-1;
}
void dua(){
          pan.write(i);
          tilt.write(j);
          i=i-1;
          j=j-1;
}
void tiga(){
          pan.write(i);
          tilt.write(j);
          i=i-1;
          j=j+1;
}
void empat(){
          pan.write(i);
          tilt.write(j);
          i=i+1;
          j=j+1;
}

void loop()
{

  // send data only when you receive data:
  if (Serial.available() > 0)
  {
   
    incomingByte = Serial.read();

      switch (incomingByte)
      {
        case '1':
          satu(); 
          delay(10);
          break;
        case '2':
          dua();
          delay(10);
          break;
        case '3':
          tiga();
          delay(10);
          break;
        case '4':
          empat();
          delay(10);
          break;
             }
    }
   
  }

Hasil::