This is Yu Lin and Lucas implementation of the robot's algorithm for SWC Bootcamp 2018.
The task is to use RPi 3 B+ to build a robot that sees blue balloons and pops them, while keeping red balloons intact.
The way to run the code is to get inside the folder robot/, enter the Python shell (run python3) and then:
Python 3.x.y
>>> from robotfunctions import *This should get you in a python environment with all the functions imported! (work in progress, not very python-like).
The testing still needs to get implemented, but there are some ideas in the tests/ folder .
Our implementation is written in Python 3 and uses several libraries, such as:
An outline of the (initial) idea for the robot is as follows:
while True:
img = capture_image
blue_object, x, y = find_objects(img) # centroid ellipse
if blue_object:
decide_direction_move(x, y)
obstacles = check_for_obstacles_near_directions(x, y)
if not obstacles:
move_towards_blue_objects
check_success: (no blue_object OR bigger(blue_object)) AND image_changed
if not_success:
take_stuck_measures
if obstacles_other_blue:
take_some_turns
if not_success:
take_stuck_measures
if not blue_object:
while not_moved:
check_other_directions
if not_near_object # reasonably far
change_direction