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Charlotte Weaver, Bill Mowrey & Huai-Ti Lin

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Presentation on theme: "Charlotte Weaver, Bill Mowrey & Huai-Ti Lin"— Presentation transcript:

1 Charlotte Weaver, Bill Mowrey & Huai-Ti Lin
Janelia PixyRace 2016 The algorithms and code for the PixyRacer PixyRace Workshop 4 [May 31st 2016]: Charlotte Weaver, Bill Mowrey & Huai-Ti Lin Acknowledgement: IDF: Cameron Loper

2 In this workshop Specifications and wiring of the robot
Algorithms in the example robot code Basic tuning of PixyCam (using PixyMon) Python implementation of the algorithms How to edit and run the example code

3 Pixy Racer wiring diagram
PixyCam Raspberry Pi3 Software modules: Pixy function Camera pan control Drive function Guidance algorithms Left motor Pan servo Right motor Motor driver Toggle switch 12v regulator Hardware specs: 5v regulator 9v 5v ~9v battery pack 12v Signal

4 Pixy wiring and block output
block size signature # blocks[0] blocks[1] blocks[2] blocks[3] blocks[4] blocks[5] blocks[6] blocks[…] Objects are ordered by size first and then signature number Servo plug with yellow line on top Bend USB cable here and loop around the standoff

5 Drive function: power distribution
TotalDrive Power available (480) How much power? Throttle (0~1) How much for steering? diffGain (0~1) diffDrive synDrive How to turn and how hard to drive? bias (-1~1) advance (-1~1) = Left Motor Drive + LeftDiff + LeftSyn = Right Motor Drive - RightDiff + RightSyn = bias PanError/(half Pixy image width) * h_pgain

6 Guidance algorithms 1. Object tracking 2. Line following Object size
Distance synDrive Target vector Object angle Orientation diffDrive Heading vector synDrive 2. Line following Object angle Orientation diffDrive

7 Tuning PixyCam (PixyMon)

8 Head control code

9 Drive function code

10 Guidance code

11 Editing your code on Pi

12 SSH setup & run


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