Installation

git clone https://github.com/skrub-wreckers/TAMProxy-pyHost.git
pip install -e TAMProxy-pyHost
git clone https://github.com/skrub-wreckers/software.git
cd software
pip install -e .

Which then exposes a sw package for all the tests to use

Note that the python-opencv and pygame packages are not on PyPI, so will have to found elsewhere

Windows

On windows, all the needed wheel packages can be found online:

• opencv-python
• scipy
• numpy
• pygame

After installing these, try pip again

Implementation details

Vision

Color partitioning

Blob detection

Done using the scipy.ndimage tools to find continuous regions of the image Pixels above the first chunk of blue pixels from the bottom of the image are ignored

Spacial mapping

Pixel locations are mapped to world space by finding the camera matrix, assuming no lens distortion, and that a random guy on the internet measured the FOV correctly. Using this matrix, a pixel can be projected onto any plane in robot space - we mostly project onto the plane z = 1 inch.

Subsumption

Uses the asyncio module (or rather its python 2 backport, trollius). This let us run and cancel small tasks in a predictable and threadsafe (by means of not using threads at all).

Our task priority, from low to high, consisted roughly of:

• Spin 360, then drive straight forever
• Drive or turn towards a cube if one is seen
• Bounce off walls, using the bumpers and IR
• Stop and pick up cubes if we're pushing any