Real time systems project raspbot

These are the driver code files that make the robot rotate or move sideways based on the color the camera on the bot sees:

StartupAction(): Runs once when the program first begins execution and is never run again. The vehicle should spin in place for 360 degrees using the mecanum wheels to indicate that initialization was successful. Once complete, begin the round-robin execution loop.

TimerCheck(): For safety reasons, maintain a timer to track how long the program has been executing. If the execution time is greater than some threshold (i.e. 10 to 30 seconds) then cease execution.

ColorCounter(image): Counts the number of pixels which match the command colors. Returns a python dictionary, where the keys are the command colors and the values are the associated counts.

ColorLocator(color_counts): Returns a 2D position vector to indicate the image location of the command color object of whichever command color has the largest number of pixels. For simplicity, you can take the average position of all matching pixels. Utilize a specific value to indicate an idle state when too few of a command color’s pixels are detected.

IdleAction() :The vehicle should sit motionless when no command color is detected.

GreenAction(p_vector): Rotate the vehicle in place using the mecanum wheels until the horizontal component of the command color object’s 2D position vector lies in the center of the camera image. Do not rotate the camera’s gimbal – you must rotate the vehicle’s body using the mecanum wheels.

BlueAction(p_vector): Move the vehicle sideways using the mecanum wheels until the horizontal component of the command color object’s 2D position vector lies in the center of the camera image. Do not rotate the camera’s gimbal – you must rotate the vehicle’s body using the mecanum wheels.

RedAction(): Rotate the vehicle 180 degrees such that it is looking away from the command color object. Continue to rotate even when the object is no longer seen on camera until the vehicle has approximately rotated 180 degrees (some error is fine).