stereo_robot package

Subpackages

• stereo_robot.calibration package
  • Submodules
  • stereo_robot.calibration.calib_ROI_select module
  • stereo_robot.calibration.calib_color_thresh module
  • stereo_robot.calibration.config module
• stereo_robot.camera_utils package
  • Subpackages
    • stereo_robot.camera_utils.line_follow package
  • Submodules
  • stereo_robot.camera_utils.camera_client module
• stereo_robot.motor_control package
  • Submodules
  • stereo_robot.motor_control.direction_control module
  • stereo_robot.motor_control.dual_shock_controller module
  • stereo_robot.motor_control.sabertooth module

Submodules

stereo_robot.main module

main.py

The core module of my project. Controls a sabertooth dual motor with a sony DS4 remote on a RPi4.

Program 1 – Controller Client

Reads the controller using pyPS4Controller Library. Changes in left joystick position are written to queue as ‘vert’ and ‘horz’. Joystick map is +/-32767. Be sure to connect DS4 in bluetooth first using RPI’s

Program 2 – Motor Server

Reads out of the queue, and sends PWM signals to the two motor driver signals Currently all pinouts are hardcoded as GPIO 12 and 13. Duty cycle 50%. The sabertooth switch configuation is in RC mode as follows:

Swtch: 1|2|3|4|5|6

Postn: D|U|U|U|U|U

In RC Mode, motor direction is a function of PWM frequency. These may/will change depending on configuration (input voltage, driver, duty cycle, gremlins). The mapping of frequencies to output voltage were collected by hand in SABERTOOTH_VOLTAGE_FREQ_MAP.ipynb, and are fit with a quadratic function.

Notes

Multithreading is used to listen to the controller in a separate process. A Queue is used to deliver the most recent command as a JSON string.

stereo_robot.main.main()

Main program entry.