Optiflow Computer Vision Braking

Software Dependencies

OpenCV Picamera2 gpiozero functools

Hardware Setup

Wheel speed collision sensor: GPIO 23 Brake Toggle button: GPIO 27 Motor brake actuation on: GPIO 20 Motor Reverse Direction: GPIO 21 Camera: plugged into pi5 camera port

Usage guide

1. Run the script with sudo python filename
2. Press the Brake Toggle button on GPIO 27 to actiave collision detecting braking
3. Cleanly exit the program using CTRL+C