This repository contains all the essential code for a robot which is driven by a raspberry pi, including:
- Camera to recgnize circular object, such as marbles
- Differential drive controller (PID controller for 2 PWM controlled motor)
- Shaftencoder reading from each of the motor
- Ultrasound distance sensors
- Parallel programming
- real time camera with ssh connection (require VScode)
run.py will move randomly in a 120cm x 120cm area if there is no marble in the area. If there is marble, it will only move to the marbles parallel_version.py will run some important components in parallel, such as updata location function, marble recgonition (CV) etc...
Note, this code is designed for a competition which was held by Monash University ECE4191. It may looks weird if you are not fimilar with the competition. If you have any further question please Email 1953812182@qq.com