YACHACK_OPENCV

Getting started

Code in Python, for the operation of a 4WD or 2WD robot, using OPENCV, in Control P(kp) and Control PID.

INSTALL WEBCAM

Visit Link: Using a standard USB webcam

INSTALL WEBCAM UVC

Execute in Terminal:

sudo rmmod uvcvideo

sudo modprobe uvcvideo quirks=2

YOU WILL NEED

• Raspbery Pi 3B+ or Superior
• WebCAM
• CHASIS 4WD or 2WD
• TB6612fng or other Bridge H
• Motors 4 or 2
• REG 1117 +3.3V
• Battery

HOW THE CONTROL PID WORKS

The algorithm was conducted similar to that of a follower line with sensors IR.

• cx is point Green = 466 (code line 24 - Line_Follower.py)
• middleX is point Red = 620 (code line 29 - Line_Follower.py)

error=cx-middleX (code line 35 - Line_Follower.py)

error = 466-620

error = -154

Execute PID TEST, replacing the values of cx and middleX PID TEST

LEFT MOTOR SPEED = 82.08

RIGTH MOTOR SPEED = 57.91