2017SteamworksVision

• Vision code to run on a Raspberry Pi 3.
• Utilizes SharkCV courtesy of Team 226 Hammerheads
• Outputs contours to the roboRIO using Networktables
• Images streamed using mjpg-streamer

Running the vision program (Pipeline.py)

To run on the Pi, open terminal and run the commands

cd PycharmProjects/2017SteamworksVision
sudo python SharkCV/SharkCV.py Pipeline.py -vw 320 -vh 240 -wb 10 -oj 

Viewing the MJPEG Stream

To check the image stream, go to 0.0.0.0:5800 in the local browser (on the Pi) or check [device IP]:5800 on a remote browser that is on the same network. To get the device ID, open a terminal and enter hostname -I

Editing the Code

Use IDLE to modify the code by entering

cd PycharmProjects/2017SteamworksVision
sudo idle Pipeline.py

Running the program on start up

To have the code start running on start up, you need to edit the rc.local file in the /etc directory.

sudo idle /etc/rc.local

Add the following lines before the exit 0 line

cd PycharmProjects/2017SteamworksVision/
nohup sudo python SharkCV/SharkCV.py Pipeline.py -vw 320 -vh 240 -wb 10 -oj &

Checking the log

When the program runs on autostart, int dumps log output to the nohup.out file in PycharmProjects/2017SteamworksVision/. You can view the file by entering the following in the terminal

cd PycharmProjects/2017SteamworksVision/
sudo nano nohup.out