https://github.com/BigFace83/BFRMR1

Software for BFRMR1 mobile robot
https://github.com/BigFace83/BFRMR1

Last synced: about 2 months ago
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Software for BFRMR1 mobile robot

• Host: GitHub
• URL: https://github.com/BigFace83/BFRMR1
• Owner: BigFace83
• Created: 2014-12-04T15:13:42.000Z (almost 10 years ago)
• Default Branch: master
• Last Pushed: 2015-04-27T12:12:25.000Z (over 9 years ago)
• Last Synced: 2024-07-08T09:48:24.405Z (3 months ago)
• Language: Python
• Homepage: http://www.bigfacerobotics.com
• Size: 391 KB
• Stars: 56
• Watchers: 14
• Forks: 26
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
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Author : Peter Neal

BFRMR1

======

Software for BFRMR1 mobile robot.

Contains arduino code and python scripts to run on the onboard Raspberry pi.

BFRMR1_arduino.ino

Arduino code. Will wait until a packet of data is received and act depending on

the instruction sent. Functions include control loops for the two head servos and

the two continuous rotation servos used for the drive wheels. Encoders on the 

wheels provide feedback for the control loop. Will also read all of the sensors

and return a packet of data when a command has completed or a data request is 

received.

BFRMR1Main.py

Main script for control of the robot. Writes to the tft screen, uses interrupts

to take input from the push buttons and executes a particular behaviour based on

user selection.

BFRMR1serialport.py

Opens a serial connection to the Arduino and contains a function to read

a packet of data from the Arduino and return as an array, and a function to send

data.

Uses pyserial

BFRMR1tft.py

Driver script for the Adafruit 2.2" tft display. Writes data to the screen

using the spi interface.

Includes functions to write text to the screen. Text lookup table contained

in font5x7.py and font8x12.py.

BFRMR1OpenCV.py

Contains functions related to vision using OpenCV.

Requires OpenCV on the Raspberry pi.