Run main code:
python3 faceReg.py
Test the functionality of the motors
python3 steer_motor.py -m 0 -d 0 -s 30
Basic dependencies for Opencv
sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libjpeg-dev libtiff5-dev libjasper-dev libpng-dev
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
sudo apt-get install libfontconfig1-dev libcairo2-dev
sudo apt-get install libgdk-pixbuf2.0-dev libpango1.0-dev
sudo apt-get install libgtk2.0-dev libgtk-3-dev
sudo apt-get install libhdf5-dev libhdf5-serial-dev libhdf5-103
sudo apt-get install libqtgui4 libqtwebkit4 libqt4-test python3-pyqt5
sudo apt-get install python3-dev
Optimization libraries
sudo apt-get install libatlas-base-dev gfortran
Install opencv via pip
sudo pip3 install opencv-contrib-python
These steps are a summary from this opencv installation guide
- If you get this error
undefined symbol: __atomic_fetch_add_8
Run this command:export LD_PRELOAD='/usr/lib/arm-linux-gnueabihf/libatomic.so.1'Or source the .env file includedsource .env
In order to activate the camera on the RPI, follow this guide.
Camera settings from opencv.
Camera settings for the raspberry built in programs programs.
https://www.pyimagesearch.com/2015/03/30/accessing-the-raspberry-pi-camera-with-opencv-and-python/
https://picamera.readthedocs.io/en/release-1.13/
Running a preview of the camera with the built-in Raspberry pi programs:
raspivid -p 0,0,640,480 -t 0
Best possible light through mirror I could find for now:
raspivid -p 0,0,640,480 -t 0 -fps 5 -ex night
A summary of the GPIO library used can be found here.
Pinout map of the Raspberry Pi
3V3 (1) (2) 5V
GPIO2 (3) (4) 5V
GPIO3 (5) (6) GND
GPIO4 (7) (8) GPIO14
GND (9) (10) GPIO15
GPIO17 (11) (12) GPIO18
GPIO27 (13) (14) GND
GPIO22 (15) (16) GPIO23
3V3 (17) (18) GPIO24
GPIO10 (19) (20) GND
GPIO9 (21) (22) GPIO25
GPIO11 (23) (24) GPIO8
GND (25) (26) GPIO7
GPIO0 (27) (28) GPIO1
GPIO5 (29) (30) GND
GPIO6 (31) (32) GPIO12
GPIO13 (33) (34) GND
GPIO19 (35) (36) GPIO16
GPIO26 (37) (38) GPIO20
GND (39) (40) GPIO21
Table with the connections for the motors and switches
| Name | Pin number | Color |
|---|---|---|
| direction m1 | 3 | Green |
| step m1 | 5 | Yellow |
| enable m1 | 7 | White |
| switch_gnd m1 | 9 | Brown |
| switch m1 | 11 | White |
| direction m2 | 8 | Green |
| step m2 | 10 | Yellow |
| enable m2 | 12 | White |
| switch_gnd m2 | 14 | Brown |
| switch m2 | 16 | White |
- Two callback functions
- Handle what happens when the function reaches the endpoints
- Set appropiate max angle on motors
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