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https://github.com/robertlucian/rubiks-cube-solver
The software that solves the Rubik's Cube on a physical machine
https://github.com/robertlucian/rubiks-cube-solver
gui pivotpi python robot rubik-cube rubiks rubiks-cube rubiks-cube-solver tkinter
Last synced: 3 months ago
JSON representation
The software that solves the Rubik's Cube on a physical machine
- Host: GitHub
- URL: https://github.com/robertlucian/rubiks-cube-solver
- Owner: RobertLucian
- License: mit
- Created: 2019-05-02T20:04:27.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2022-11-22T03:55:30.000Z (about 2 years ago)
- Last Synced: 2023-03-08T23:13:18.205Z (almost 2 years ago)
- Topics: gui, pivotpi, python, robot, rubik-cube, rubiks, rubiks-cube, rubiks-cube-solver, tkinter
- Language: Python
- Size: 29.5 MB
- Stars: 5
- Watchers: 1
- Forks: 4
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Rubik's Cube Solver Robot
The software that solves the Rubik's Cube on a physical machine.
The detailed post on how this robot works can be found [here](https://www.robertlucian.com/2019/07/06/rubiks-cube-solver-robot/).
An example of the robot scanning and then solving the Rubik's cube is shown in the next video.
[](https://www.youtube.com/watch?v=GnsUHpGSF7Y)
## GUI App
The GUI app has 3 tabs. These tab-accessible pages can be seen in the following images.
### Overall Architecture
The architecture of the program is shown in the following diagram.
The FSM (*Finite State Machine*) observed in the above diagram as a thread is described next.
### Source Code
1. In the `hw` directory, all the CAD components and assemblies are found. They were designed in SolidWorks.
1. In `rubiks_solver` directory, the source code of the program that runs on the robot is found. In there, there are 2 core modules. Alongside these 2 modules, there is also a `config.json` file and modules needed to make the PivotPi to work (the servo controller).
* `arms.py` - a module which hosts the classes needed to map a solution of a cube to a list of sequences that have to be directly applied to all 4 arms of the robot. The classes are particularized to the given robot.
* `main.py` - the main script which upon launch spawns the GUI app and also runs in the background different threads needed to scan or solve the cube.
##### Things to consider when running the GUI app:
1. The configuration of the robot can only be updated when it's found in the rest state - aka when the servos are stopped.
1. The configuration file written `config.json` must have all fields already present upon the app's launch. In this repo, all required fields are already present.
1. Pressing the *Release/Fix/Stop/Cut Power* buttons will execute as many times as they are pressed and in the same order as they were pressed.
1. When calibrating the camera or the arms, click on *Save* to propagate the new configuration throughout the app and also to save it to disk.
### Installing
Update the package manager:
```bash
sudo apt-get update
```
Numpy/Sklearn Dependencies:
```bash
sudo apt-get install gfortran libatlas-base-dev libopenblas-dev liblapack-dev
```
Dependencies for Pillow:
```bash
sudo apt-get install libjpeg-dev zlib1g-dev libfreetype6-dev liblcms1-dev libopenjp2-7 libtiff5 -y
```
Dependencies for muodov/kociemba library:
```bash
sudo apt-get install libffi-dev python-dev python3-dev
```
Dependencies for OpenCV:
```bash
sudo apt-get install libcblas-dev libhdf5-dev libhdf5-serial-dev libatlas-base-dev libjasper-dev libqtgui4 libqt4-test libwebp6 -y
sudo apt-get install libatlas3-base libsz2 libharfbuzz0b libtiff5 libjasper1 libilmbase12 libopenexr22 libilmbase12 libgstreamer1.0-0 libavcodec57 libavformat57 libavutil55 libswscale4 libqtcore4 -y
```
Then, after having installed the dependencies, go on and install the actual libraries:
```bash
virtualenv -p python3 .venv # this has been tested against 3.5
source .venv/bin/activate
pip install -r requirements.txt --index-url https://piwheels.org/simple --extra-index-url https://pypi.org/simple
```
### Usage
To run this, execute
```bash
python main.py
```
This launches a GUI app, so be sure you've got an X11 client running on your computer if you're running this headless.