Joystick Controller

The code associated with this assignment was used in demo 3. The code posted in the github repository is from that demo.  It uses the the pygame import and takes the inputs from the joystick and buttons and sends that input over UDP to the Raspberry Pi then is sent to the OpenCM as a set of commands to control the servos.  Again this was an assignment that was done along side Ed R. and his repository is listed below.

both sections are part of the cranebot repository found here.

https://github.com/edroderick/cranebot/blob/master/robot-view-joystick.py

https://github.com/edroderick/cranebot/blob/master/joystick-car.py

This assignment deals with Packet Structures using Python.

This assignment was done along side with a classmate Ed R.  a link to his github repository is below with the code for the source.

https://github.com/edroderick/robotdesignhw/tree/master/hw8

Visual Servoing with block diagram, source code and video.

Below is a link to the PDF of the block diagram.

homework 6_block_diagram

The code to track the color and draw the rectangles is below:

https://github.com/jallendc/ece590_homework/blob/master/videoTracking.py

Below is a video showing the current progress of the video tracking.  A red rectangle is drawn around the color on the full color video.  The mask shows only the color being tracked, in white,  while the screen position, y-axis, is outputted to the terminal in the larger window below the video and the mask.  Next step is to attach it to a servo and have the RPi communicate with a micro-controller to manipulate the servo in to tracking the color in any direction in the y-axis. (update to be posted soon).

This video shows the final product of the Webcam Tracker.

the new code for the Raspberry Pi and OpenCM can be found through the link below

https://github.com/jallendc/ece590_homework/blob/master/serial_comm_videoTracking.ino

https://github.com/jallendc/ece590_homework/blob/master/videoTracking.py

Design and print a PCB based on the schematic given in class.

Use all through hole, SO220, and DIP parts

Use the github link to access the folder containing all the files.  Gerbv can be used to open the “.cmp”, “.sol”, “.plc”, “.stc”, “.sts”, and “,ncd” files.  Images of the “.sch” , schematic, and .”brd” board design can be seen below.

https://github.com/jallendc/PCB_files

As discussed in class demonstrate serial connectivity between the SBC and the uController.  Do NOT use the USB2Serial for this demonstration.

Send data x from the SBC to the uController over the serial port.

When uController receives this packet it will add “ret: ” to the beginning and return it to the SBC.

The SBC will then print out the returned data.

https://github.com/jallendc/ece590_homework/blob/master/serial_comm_pi.py

https://github.com/jallendc/ece590_homework/blob/master/serial_comm_pi.ino