Essort / fantastic-robot

This is the repository of the Obelisk 2 robot. (github suggested the name :) )

Project build log: https://hackaday.io/project/167713

#Python programs

main.py

This is the main program, with object detection. It can detect and distinguishes objects. It contains a TCP server. When client connected this will post a JSON array to a client. The array contains, camera ID, detected object name, x, y coordinates, and Z for the depth (distance to the detected object) When we are testing it we used with multiple instances with different camera ID, because we don't need frame synced operation.

Example directory - (test programs)

1_example_depthai.py

This is used to exporting images with various colormaps for testing

2_example_depth_tcp.py

This is the TCP server to test the depth map visualisation in unreal engine

socketServer.py

For host testing. Simple echo server

socketClient.py

Simple client for sending one message, and receive response

socketListener.py

Continous listening for messages from the server.

remoteController.py

For joystick control for example: logitech Extreme 3D Pro

remoteController_xbox360.py

For xbox 360 controller

robotController.py

Main python program running on the robot. The head, and stepper motor controller

• This requires adafruit-circuitpython-servokit
• run on rpi:

  python -m pip install -r requirements_v2.txt
  python -m pip install -r requirements_rpi.txt
  

robotController_only_move.py

Test program for only to move the robot

• it can be used to test the communication on windows

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Pre-requisites

1. create virtualenv enviroment

2. Install requirements

   python -m pip install -r requirements.txt
   

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RPi PWM shield

from this guide: https://www.waveshare.com/wiki/Servo_Driver_HAT

1. Enable I2C Interface

sudo raspi-config 
Choose Interfacing Options -> I2C ->yes 
sudo reboot

2. Install libraries

python -m pip install -r requirements_rpi.txt

models directory

It contains the model for the main.py (object detection)