This repo holds code created by Francisco Jao during the summer of 2023. The code is designed for a mecanum drive robot with a camera and 3 odometry pods. The goal is to program the robot to autonomously recognize an object and have it move towards the object.
These are the main subsystems used to successfully detect an object and move towards it.
- Mecanum Drive
- Odometry System
- Camera
- Sensor
- PID Controller
In order to detect the desired object, OpenCV was used to filter the images from the camera. In ContourPipline.java this is achieved by isolating a specific solid colour from the camera feed. The pipeline then records where the object is in the frame and is able to give that information to PoleDetectionAuto.java.