Byggern' - TTK4155 Embedded and Industrial Computer Systems Design Project

Structure

├── docs
├── LICENSE.meta
├── node1
├── node2
├── node3
│ ├── can_forwarder
│ ├── test_data
│ ├── tracking
└── README.md

Summary

The 3 nodes communicate over a CAN bus. Node 1 is an Atmega162, Node 2 is an ATSAM3X8, Node 3 is an Arduino Uno connected over serial to a computer running OpenCV. Node 3 is an extra node which is not part of the curriculum.

Visual Feedback with OpenCV

As an extra node to our system we implemented a ball tracker for visual feedback. This allowed us to implement a basic auto-tracking state based on the estimated ball position. The ball tracking is based on finding the contour of a color mapped image and filtering for maximum circularity.

tracking_viz.mp4

The third node uses OpenCV to detect the position of the ball which is forwarded to node 2.