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https://github.com/thomasonzhou/ball-balancing-software
ball balancing robot with camera feedback
https://github.com/thomasonzhou/ball-balancing-software
computer-vision pid-control robotics
Last synced: 9 days ago
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ball balancing robot with camera feedback
- Host: GitHub
- URL: https://github.com/thomasonzhou/ball-balancing-software
- Owner: thomasonzhou
- Created: 2024-09-11T19:54:04.000Z (4 months ago)
- Default Branch: main
- Last Pushed: 2024-12-23T07:04:57.000Z (25 days ago)
- Last Synced: 2024-12-23T08:19:03.578Z (25 days ago)
- Topics: computer-vision, pid-control, robotics
- Language: Python
- Homepage:
- Size: 2.24 MB
- Stars: 3
- Watchers: 1
- Forks: 0
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Ball Balancing Robot
Moving a ball along trajectories using computer vision, PID control, inverse kinematics, and three stepper motors.
https://github.com/user-attachments/assets/f4a4e480-b639-42fb-8478-f429e09720b2
# Architecture
| **Package** | **Input** | **Details** | **Output** |
|-|-|-|-|
| **computer_vision** | camera frames (USB) | compute ball position using Circle Hough Transform | ball (x, y) in global frame|
| **trajectory_planner** | ball (x, y) | stores and updates target waypoints | current target position |
| **pid** | ball (x, y) and target (x, y) | calculates tilt adjustments to minimize positional, accumulated, velocity errors | direction and angle of platform tilt |
| **inverse_kinematics** | direction and angle of platform tilt | convert tilt target to stepper motor angles | angle for each stepper motor |
| **py2motor** | 3 stepper motor angles | communicate with stepper driver over serial | instructions encoded with custom protocol |
| **core** | static config specifying trajectory and controller params |integration of modules, sanity checks between packages | None |
| **serial2py** | joystick position over serial | convert joystick commands of target tilt positions (used to test subsystems) | direction and angle of platform tilt |
```mermaid
flowchart LR
subgraph core.main
serial2py.read_arduino_joystick --> inverse_kinematics
computer_vision --> pid
computer_vision --> motion_planner
motion_planner --> pid
pid --> inverse_kinematics --> py2motor
end
```
# Installation
1. **Install Dependencies:**
```sh
pip install -e src
```
2. **Start the Application:**
```sh
start
```
To change the mode of operation, the static config can be changed in src/core/main.py
Since serial interfaces may vary between devices, they may need to be changed.
# Reproducing the Setup
## Required Hardware
- **Camera:** Connected to the device running `core.main` (e.g. Raspberry Pi)
- **Transparent plate:** (polycarbonate)
- **Three linkages:** Connecting the plate to the motors
- **Three motors**
- **Motor driver:** Implements the protocol specified below
## Embedded Protocol
All commands should be ASCII encoded and insensitive to blank spaces.
On startup, the motor driver should receive a `` command via serial, raise the platform to an acceptable starting position, and emit a `HOME` command via serial in response.
The driver should accept commands of the format `` representing an absolute movement of the motors to a given degree in radians.
## Computer Vision
The computer_vision module can be run independently with
```sh
python src/computer_vision/ball_detection.py
```
It may be necessary to adjust the parameters for the Hough Circle Transform to improve ball detection.