Kamel Documentation

Team members

Björn Ellwert - Carlo Brokering - Jamal Salif - Stephan Swiatek

Robot parts - Hardware

Microcontroller

• Arduino nano v3
• Raspberry Pi 3B+

Sensors

• Raspberry Camera v2.1
• Sharp digital infrared distance sensor
• Sharp analog infrared distance sensor
• Sparkfun 9DoF Razor IMU
• Touch sensors

Motordriver

• Dual MC33926 Motor Driver Carrier
• 16 Channel 12-bit Servo Driver

Motors

• V-TEC 12V DC-Gearmotor 76 RPM

Software

Environment

• Raspbian Lite

Required Librarys

• OpenCV 4 or newer version (recommended), Install guide for OpenCV 4.1.0
  Important:
  1. as cmake run cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules/ -D WITH_QT=ON -DWITH_OPENGL=ON -D OPENCV_GENERATE_PKGCONFIG=ON -D WITH_GTK=ON -DPYTHON_DEFAULT_EXECUTABLE=$(which python3) ..
  2. make sure all packages are configured (OpenGL, Qt, ...)
  3. after finishing the installation run sudo ldconfig
• WiringPi, install with sudo apt-get install wiringpi
• Boost - Getting started guide
  Installation:
  
  1. Download latest version of boost
  2. Extract folder and cd into it
  3. ./bootstrap.sh
  4. sudo ./b2 install
• spdlog 1.5.0 or newer version - Wiki
  Installation:
  
  1. git clone https://github.com/gabime/spdlog.git
  2. cd spdlog/
  3. sudo cp -r include/spdlog/ /usr/local/include/