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Session Seven: Computer Vision and Feedback Control

Lab: Pattern Recognition Training, Pixy API (15min)

Objective: Train the Pixy vision sensor to recognize objects and use the Pixy API to display object coordinates on the LCD

Activity: Students train the robot to see various objects with PixyMon.
Activity: Students and Instructor write and run code to access object location data in real time and display on the robot LCD.

Lecture: (15min)

Objective: Understand the concept of Feedback

Activity: Video: Proportional Feedback
Activity: Video: Derivative Feedback

Lab: (60min)

Objective: Coordinate Vision Sensor, Servo and Motor Control for Autonomous Following

Activity: Students and Instructor write and run code to point at detected objects by coordinating servo arm movement with object location data.
Activity: Students and Instructor improve servo arm movement with a Feedback library.
Activity: Students and Instructor write code to integrate motor control with the servo feedback code.

Source Code

https://github.com/cambrozak/bpl001/tree/master/session-07

Reference

Pixy Arduino Library and API
C++ Language Reference for Arduino

Equipment

  • Laptop for Instructor with Arduino IDE and internet access
  • Audio, Video, Projector and necessary laptop cables
  • Markerboard
  • Laptop for each student with Arduino IDE and PixyMon client
  • Pixy Libraries, Feedback source code
  • Zumo Robot with PixCamCMU and Servo Arm, one for each student pair
  • Batteries, AA for Main Zumo board, 9V/600mAh for PixyCam board
  • Micro USB Serial Cable for each Robot
  • Mini USB Serial Cable for each PixyCam board

BPL001 Introduction to Robotics by Carlos Ambrozak is licensed under a Creative Commons Attribution 4.0 International License.