To navigate a model race-car autonomously 3 laps around a 10m x 2m [LxW] track
- BeagleBone Black (BBB) processor
- 16-bit TI Launchpad MSG2553 microcontroller
- Electronic speed control (ESC)
- Model race-car (approx. 40cm x 25cm x 20cm [LxWxH])
- Magnetometer
- Logitech USB webcam
- Bluetooth transceiver
- PWM speed control
- PWM steering control
- Computer vision (OpenCV)
- Bluetooth-triggered start
- Automated ESC arming
- Heading detection (magnetometer)
The microcontroller interfaces to the hardware (ESC, servos, sensors, NOT incl. webcam) and transmits data to the processor. The processor utilizes the microcontroller data, in combination with visual data from the webcam, to output digitally-modulated control signals to the microcontroller to navigate around the track. System terminates itself after 3 laps.
bubblesort.c- sorting algorithm used for sorting the contours obtained from the processed image in ascending order
choosecolour.c- stores the desired RGB-colour threshold values into an integer array
create_trackbars.c:- function used for debugging purposes; produces trackbars that alter the parameters of the thresholded image
FULL-FAST-22-OCT.c- final complete code for the PROCESSOR used on project day!
magnetometer.c- function call to the magnetometer that returns the heading of the model car in the range between [0-360) deg.
UARTSetup.c- function macro to configure the necessary UART ports
BlinkXXTimes.c- function used for debugging purposes; blinks the LED on the microcontroller a number (XX) times to indicate modes of operation
ESCArming_prot.c- protocol used to arm the ESC at the correct values for the purposes of the project
FULL-FAST-22-OCT.c- final complete code for the MICROCONTROLLER used on project day!
Heading_prot.c- protocol used to calibrate the steering heading
PinSetup.c- configures the necessary I/O pins
SwingSteering_prot.c- test function used to swing the steering left and right indefinitely