The vision program has now been fully implemented on the Raspberry Pi and the drive motors are now controlled by the vision program. Several tasks were completed to achieve this.
- calibration of the vision program (further calibration required when chassis is complete
- programming motor control through an Arduino with motor shield
- establishing serial communication between the Raspberry Pi and the Arduino
The drive motors are driven using proportional control where the speed of the motors is proportional to the distance to the next spear.
This is the current prototype electric circuit. The drive motors are powered by a 12 V battery. The motors are driven through an Arduino and motor shield which receives a commanded speed through serial communication from the Raspberry Pi.
A demonstration of the control system. As the robot approaches the asparagus spear it slows down and stops when it is properly aligned.
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