I ran a sample program in order to test serial communication on my Visor.  The program sends servo instructions through the serial port to the board I intend to use for my project.  I tested it by connecting my Visor to the serial port on my computer, and used HyperTerminal to see the results.  The program worked well.

A screenshot of the app can be seen here.

The program was provided as sample code meant to run on the original Palm Pilot series.  Since headers and functions have changed since then, the code had to be greatly overhauled in order to work on my Visor.  I've also had this problem with the SDK for the EyeModule, and have gotten code down to 12 errors, but have yet to be able to run the sample program on my handheld.

I've learned that since I will be using a HotSync cradle with my Visor, no modification will be needed on the board, contrary to what I previously thought.  I'm still undecided however, on which board I will finally use to control my car.  I will use this week to finalize my decision.

Cool flash intro created.

Feasibility
In order to test for feasibility, the handheld will first be programmed to test its ability to control the car using its serial port. This will be done first since it is essential for the project to be successful. If the car can be accurately controlled, then the next test will be test the handheld camera's ability to track objects. Software will need to be written in order to read from the Visor's expansion port, capture the image, segment the part of the image that has a specific color, and then locate where in the image the object exists. If this proves to be successful, then both the serial communication and object-tracking software can be combined to complete the project.

Pitfalls:
- lack of experience in PalmOS programming
- figuring out a way to convert serial signals to motor instructions
- wiring the whole thing together
- uncertainty of 33Mhz processor's ability to be able to do all the image processing quickly

What I've done so far:
- Research on what's already been done in terms of robotics using the PalmOS
- Selected the car to use for this project
- Installed CodeWarrior for the PalmOS
- Compiled samples of Palm programs
- Installed the Palm OS 5 SDK along with the EyeModule SDK
- Transferred the ROM from my handheld to be able to emulate it from my computer.

A PowerPoint presentation has been put up.  The presentation presents the general idea of how the rover will operate.

CDRover-Presentation-1.ppt

To convert a radio-controlled car into a self-controlling rover through the use of a Handspring Visor Platinum equipped with an eyemodule camera.  The handheld would use what the camera sees to control the vehicle towards an object.

- Palm Pilot Robot Kit
  http://www-2.cs.cmu.edu/~pprk/

  QuickTime Movie of PPRK in action
  http://www.oreillynet.com/lpt/a/640

- Helio-Courier (not related, but interesting)
  http://www.hpl.hp.com/shl/projects/blimp/

- Marble-shooting robot, using same car I'll be using
  http://web.mit.edu/tas/www/traxx/rt_main.htm

- Photo ('borrowed' from eBay) of car I'm using - Tyco Fast Traxx
  fasttraxx.jpg