- OV7670 Camera
- Sabertooth Motor Controller
- IR Proximity Sensors
- LiPo Batteries (12V + 7V)
- Pan/Tilt Servo motors
The reason the OV7670 was chosen was its parallel data interface and low cost ($20), allowing us to obtain an image capture rate of 30fps. However, you get what you pay for in terms of ease of interfacing. I had to design custom logic in VHDL to perform frame captures and store them in block-ram on the FPGA. It's hard to debug what you can't see. None the less, after days of toying around, the Zybo was finally able to see. In order to view what the Zybo saw, I wrote a quick program to transfer images from the Zynq to my laptop over a serial connection (using Processing). Below is the process flow for debugging the images.
Hamsterworks - OV7670
Otherwise the images didn't turn out so well:
I'll post some videos of the robot in action soon...