JakobLewis / UTS-DRC-2022

Guidance program written for the 2022 QUT droid racing challenge

UTS DRC 2022

This project is not maintained and may be broken.

Summary 📝

This repo is a cleaned-up and commented version of the logic code written by Jakob Tonnaer Lewis for the UTS Robotics Society's submission to QUT's Droid Racing Challenge in 2022. Successfully deployed on "Autonomous Delicacy", it helped our team claim 3rd place!

Microcontroller code is not included in this repo.

Installation 📦

This project requires Python above version 3.5 with the following packages; pip3 install opencv-python numpy pyserial.

Usage 🏁

from src import Vision, link, unlink, send_data

# Initialise video source and sideline colours using default values (see Vision.reload_configuration() for more)
vision = Vision.start()

# Connect to the microcontroller
link(vision.settings["serial"]["port"])

# Run until the video source stops providing frames
while vision.next_frame():

    # Extract relevant colours
    vision.set_masks()

    # Find contours/obstacle shapes
    vision.find_contours()

    # Slice up contours
    vision.find_bounds()

    # Find gaps between obstacles, ignoring "illegal paths"
    vision.generate_path_blocks()

    # Generate a path forward
    vision.find_path()

    # Attempt to smooth path
    path = vision.optimise_path()

    # Turn toward the most immediate path segment
    vision.add_turn_destination(path[0][0])

    # Check if we've crossed the finish line
    vision.finish_line_detection()

    # If we've completed the track, reset our steering, stop the droid and exit
    if vision.info["track_complete"]:
        send_data(
            vision.info["neutral_steering_position"],
            vision.settings["serial"]["stop_speed"]
        )
        exit()

    # If we are turning by less that 40% of the screen width, drive at "boost_speed"
    current_speed = vision.settings["serial"]["boost_speed"] if vision.turning_certainty() < 0.4 else vision.settings["serial"]["go_speed"]
  
    # Transmit turning and speed values to the microcontroller
    send_data(
        vision.current_steering(),
        current_speed 
    )