The concept here is to use OpenCv in python to detect white lines on grass and send signal to arduino to move accordingly.
I have been unable to build a robot to test this, therefore the output currently is in form of LEDs connected to PWMs on an Arduino Mega 2560.
Takes an image and performs the following in order:
- Blur the image
- HSV Color Filter
- Dilations and Erosions
- Canny Edge Detection
- Hough Line Transform P
This file takes a value between -1 and 1, where -1 is left and 1 is right. Currently it has a threshold between -0.1 and 0.1 for going straight (no LEDs on).
The file outputs to Arduino serial in form of a string: <direction, float> where direction is either RIGHT, LEFT, or STRAIGHT and float is the value to turn between 0 and 1.
It should be noted that serial port and baud rate are hard coded, and will need to be changed for other boards.
The Arduino file looks for the message from PC, decodes it, and turns on LED based on the motor output (0 to 1, where 0 is off and 1 is full power).
- OpenCv 3.3.0
- Imageio
- Python 2.7.12
- Arduino IDE 1.8.5
- Arduino Mega 2560