{"id":26153497,"url":"https://github.com/cyrus243/pathfinder","last_synced_at":"2026-04-22T01:03:52.775Z","repository":{"id":279926145,"uuid":"940459956","full_name":"Cyrus243/PathFinder","owner":"Cyrus243","description":"This project is a mini-rover built on a Raspberry Pi 5, using the CoKoino chassis and the CoKoino Pi Power 4WD Hat.","archived":false,"fork":false,"pushed_at":"2025-05-23T06:42:51.000Z","size":19,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-12-26T12:51:53.231Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Cyrus243.png","metadata":{"files":{"readme":"readme.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-02-28T08:04:02.000Z","updated_at":"2025-11-26T16:34:53.000Z","dependencies_parsed_at":"2025-02-28T15:11:46.142Z","dependency_job_id":"2a3b71cc-ad74-4389-a2fa-124a46ac0206","html_url":"https://github.com/Cyrus243/PathFinder","commit_stats":null,"previous_names":["cyrus243/pathfinder"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/Cyrus243/PathFinder","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Cyrus243%2FPathFinder","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Cyrus243%2FPathFinder/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Cyrus243%2FPathFinder/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Cyrus243%2FPathFinder/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Cyrus243","download_url":"https://codeload.github.com/Cyrus243/PathFinder/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Cyrus243%2FPathFinder/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32116514,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-22T00:31:26.853Z","status":"ssl_error","status_checked_at":"2026-04-22T00:30:22.894Z","response_time":128,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-03-11T07:58:15.838Z","updated_at":"2026-04-22T01:03:52.748Z","avatar_url":"https://github.com/Cyrus243.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Mini-Rover Project\n\n## Overview\nThis project is a **mini-rover** built on a **Raspberry Pi 5**, using the **CoKoino chassis** and the **CoKoino Pi Power 4WD Hat**. The rover is controlled remotely via an **Android gamepad app** over a **TCP socket connection**. Additionally, it is equipped with a **PiCamera**, enabling **real-time video streaming** over a **UDP socket**.\n\n## Features\n- **Remote control** using an Android gamepad app\n- **Real-time video streaming** from the PiCamera over UDP\n- **4WD motor control** via the CoKoino Pi Power 4WD Hat\n- **Bidirectional communication** using **TCP and UDP sockets**\n- **Python-based implementation** with modular and scalable design\n\n## Hardware Components\n- **Raspberry Pi 5**\n- **CoKoino Chassis**\n- **CoKoino Pi Power 4WD Hat**\n- **PiCamera (Raspberry Pi Camera Module)**\n- **Android device** (for gamepad app control)\n- **Power supply and battery pack**\n\n## Software Components\n- **Python** for the rover control logic\n- **Sockets (TCP \u0026 UDP)** for communication\n- **OpenCV \u0026 libcamera** for video streaming\n- **PyBluez** for Bluetooth functionalities (work in progress)\n\n## System Architecture\n1. **Gamepad App (Android Device)**:\n   - Sends control commands over a **TCP socket** to the rover\n2. **Raspberry Pi (Rover Controller)**:\n   - Receives commands and translates them into motor actions\n   - Streams video from the PiCamera over **UDP socket**\n3. **Communication**:\n   - **TCP Socket**: Used for receiving control inputs\n   - **UDP Socket**: Used for low-latency video streaming\n\n## Installation\n### 1. Set up the Raspberry Pi\n```sh\nsudo apt update \u0026\u0026 sudo apt upgrade -y\nsudo apt install python3-pip\n```\n\n### 2. Clone the Repository\n```sh\ngit clone https://github.com/Cyrus243/PathFinder.git\ncd pathFinder\n```\n\n### 3. Install Dependencies\n```sh\npip install -r requirements.txt\n```\n\n### 4. Run the Rover Control Server\n```sh\npython3 main.py\n```\n\n## Usage\n1. **Start the rover server** to accept control commands.\n2. **Start the video stream** for real-time monitoring.\n3. **Connect the Android gamepad app** to the Raspberry Pi's IP over TCP.\n4. **Control the rover remotely** and view the live camera feed.\n\n## Future Improvements\n- Introduce **BLE control configuration as an alternative communication method**\n- Improve **video streaming performance** using optimized encoding\n- Implement **computer vision-based obstacle avoidance**\n- Add **autonomous navigation modes**\n\n## License\nThis project is licensed under the **MIT License**.\n\n## Author\nAaron Mbala\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcyrus243%2Fpathfinder","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcyrus243%2Fpathfinder","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcyrus243%2Fpathfinder/lists"}