controller

Note

Refer to p4p.jamesnzl.xyz/learn for full details.

This repository contains the command and control for our pick-and-place machine, and acts as the conduit between the p4p-83/gantry, p4p-83/vision, and the p4p-83/interface.

Usage

Firstly, clone this repository. Set up SSH Agent Forwarding on the Raspberry Pi if needed.

git submodule update --init
julia src/controller.jl

Interfaces

WebRTC

• WebRTC is used for the real-time low-latency video streaming from MediaMTX on the Raspberry Pi to the web interface.

WebSocket

• A WebSocket is used for the real-time low-latency full-duplex data channel between the Raspberry Pi and the web interface.

Protocol Buffers

• Protocol buffers are used for data exchange.
• See p4p-83/protobufs for the .proto definition(s).