BWCaR107

IDP software for team 107

Project Structure:

Daedalus is software to run on a PC, which reads camera data and sends commands to the Arduino.
- daedalus.aruco contains a selection of wrapped functions from cv2.aruco which are used to identify the ArUco marker on top of the robot.
- daedalus.cam_skeleton is a skeleton file for programs using the cv2 camera library
- daedalus.image contains functions for image transformations and undistortion
- daedalus.navigation contains functions for finding objects n the frame.
- daedalus.peripherals contains a functions used to read and wrte from Arduino peripherals
- daedalus.square_picker is a utility file used to select a quadrilateral used to form an affine transform, squaring an image on the quadrilateral.
- daedalus.streaming includes 2 classes, ArduinoStream and VideoStream, both of which inherit threading.Thread and are run in their own logical threads.
Theseus is software to run on an Arduino, which translated commands from Daedalus into realisable actions of motors, servos and LEDs. It also relays sensor and state information back to Daedalus for analysis.

Daedalus\main.py will run without the required connections but with no functionality other than the UI, which will inform you of that.
Theseus\wifi-secrets.h requires token information which you can generate on the UCS tokens page.
Theseus\theseus.ino requires you to enter the local IP of the computer you are running Daedalus on as IPAddress server, which must be connected to eduroam.
Daedalus\main.py must run in a terminal or terminal emulator, not a python console.
You must ssh tunnel through gate.eng.cam.ac.uk to the cameras:
- ~ ssh -L 8081:idpcam1.eng.cam.ac.uk:8080 USER@gate.eng.cam.ac.uk
- ~ ssh -L 8082:idpcam2.eng.cam.ac.uk:8080 USER@gate.eng.cam.ac.uk