Macro Plotter

The macro plotter allows you to display a plot built from the recorded macro commands. This is very useful for exploring open loop control. You can run the T-Bot over a known route and compare the plot to the actual path taken. The rotation rate and speed factor on the slider bars are used to compensate for the real turning rate and speed of the T-Bot. The control values received by the robot are integers ranging from 100 to 300 with 300 corresponding to a maximum speed in one direction and 100 corresponding to a maximum speed in the opposite direction. The speeds are going to be effected by several factors such as trim, surface, slope, tuning, calibration etc.

Python Bluetooth Controller with Video Streaming

This Python code allows you to use your generic joystick or PS3/PS4 controller to control your T-Bot while streaming video in real time from the T-Bot’s helmet camera. This has been bench marked on the Raspberry Pi 4 at 30 fps. You can find it here:

Computer vision control.

A simple example of self driving using HSV filtering with , findContours from OpenCV and grab_contours from imutils. The code for this example can be found here: