rubikCube

Description

This project uses kociemba algorithm to solve Rubik's cube.
It is used to automatically solve Rubik's cube by a device that is DIYed by my team, so it contain both software for upper monitor and lower driver(Raspberry wiringPi lib).

Dependency & Modules

This project depends on the following libs:

OpenCV (>= 3.3.0)
WiringPi
pthread

This project contains the following modules:

Simulation
Core solution algorithm
Turning method(motor control)
Color recognition
3D control and display

Usage

Before you can run this project, compile it first:
~/rubikCube$ mkdir build && cd build
~/rubikCube/build$ cmake ..
~/rubikCube/build$ make

simulate:
Use the colors of each faces as the first arugment of the program.
Option colors are r b g w o y for red, blue, green, white, orange, yellow respectively.
Note that the order of faces is ULFRBD
e.g. ~/rubikCube/build$ ./simulate wgbrwywwrgygwrbogwrggobwboryoyroybywoooggboryrwyrybgbb
disorganize:
Generate an array of random state and implement it to the cube.
You can specify the number of steps by giving the second argument in the function genRandomState().
e.g. ~/rubikCube/build$ ./disorganize
solveCubeManually:
Manually input the colors of each face. The order of colors is the same as that of simulation.
e.g. ~/rubikCube/build$ ./solveCubeManually wgbrwywwrgygwrbogwrggobwboryoyroybywoooggboryrwyrybgbb
colorTool:
Several tools about color recognition.
You can choose one of the tools by entering the corresponding number when the program is run.
ReadColor:
The program concerning color recognition.
You can choose whether to train a new color model or use the existing model to recognize colors.
By default, the model files should be in the folder the same as the path of program.
3D control and display:
In the branch 3d_module. This module is made in Unity3d and it is not finished yet.

About color recognition

The color distribution is shown as pic.1

The recognition result is shown as pic.2

Author

Derek Lai (HaowenLai)