Instructions

Team: < Pi team >
Siwen Tu, Lin He , Ruilin Ma, Chenyu Shi, Shupei Li
Robotics, 2023 Spring, Leiden University

Gesture control

Hardware environment

• Picar-4wd + RPi Camera v3 (wide)
• A computer with camera

Software environment

• picamera2
• opencv-python
• cvzone
• socket

Usage

1. Change the variable host (Line 5) in hands_control_pc.py to "your ip address". Open the port 6666.
2. Change the variable host_ip (Line 7) in hands_control_car.py to "your ip address".
3. Run python3 hands_control_pc.py on the computer.
4. Run python3 hands_control_car.py on the car.
5. Use gestures to control the car.

Autonomous driving

Hardware enviornment

• Picar-4wd + RPi Camera v2
• Marking lines (colored tapes)

Software environment

• picamera
• opencv-python
• Time
• Picar_4wd

Usage

1. Run python linetrack.py on the computer.
2. Specify the parameters asked by the program, namely color, task index and threshold, with the following setting.
3. Set color == orange or color == red_2 (orange is recommended.)
4. Set Task index == 4
5. Set Threshold == 10
6. The above default settings will execute the auto reverse parking of the robot.