Hands-On Robotics Programming with C++电子书

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Preface

Who this book is for

What this book covers

To get the most out of this book

Download the example code files

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Conventions used

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Section 1: Getting Started with wiringPi on a Raspberry Pi

Introduction to the Raspberry Pi

Technical requirements

Software required

Hardware requirements

For Raspberry Pi 3B+ and Raspberry Pi Zero W

Additional hardware for Raspberry Pi 3B+

Additional hardware requirements for Raspberry Pi Zero W

Understanding the Raspberry Pi

The Raspberry Pi 3B+

The Raspberry Pi Zero W

Setting up a Raspberry Pi 3B+ as a desktop computer

Installing Raspbian OS on an SD card

Downloading and installing Etcher

Downloading the Raspbian Stretch image

Writing the Raspbian Stretch image to a microSD card

Setting up the Raspberry Pi 3B+

Connecting the Raspberry Pi 3B+ to the internet

Connecting the Raspberry Pi 3B+ to a laptop via Wi-Fi

Creating an SSH file on a microSD card

Connecting the Raspberry Pi 3B+ to a Wi-Fi network using PuTTY

Enabling the VNC server

Viewing the Raspberry Pi output on the VNC Viewer

Increase the VNC's screen resolution

Handling VNC and PuTTY errors

Setting up the Raspberry Pi Zero W as a desktop computer

Setting up the Raspberry Pi Zero W

Connecting the Raspberry Pi Zero W to a laptop via Wi-Fi

Connecting the Raspberry Pi Zero W to a Wi-Fi network using PuTTY

Enabling VNC Viewer for Raspberry Pi Zero W

Viewing Raspberry Pi Zero W output on VNC Viewer

Summary

Questions

Implementing Blink with wiringPi

Technical requirements

Installing the wiringPi library in the Raspberry Pi

Accessing Raspberry Pi GPIO pins via wiringPi

Making an LED blink

Wiring connections

The blinking program

Uploading the code to the Raspberry Pi

Smart light – working with digital sensor

The LDR sensor and the way it works

Wiring connection

Smart light program

Pulse Width Modulation using softPWM

How PWM works

The softPWM library

Making an LED blink with the softPWM library

Summary

Questions

Section 2: Raspberry Pi Robotics

Programming the Robot

Technical requirements

Choosing a robot chassis

Constructing and connecting the robot

Constructing the robot

Connecting the motor driver to the Raspberry Pi

What is a motor driver?

Wiring connections

Working with H-bridge

Moving the robot

Moving the robot backward

Stopping the robot

Different types of turns

Axial turns

Axial left turn

Axial right turn

Radial turn

Radial left turn

Radial right turn

Summary

Questions

Building an Obstacle-Avoiding Robot

Technical requirements

Using an ultrasonic sensor

How an ultrasonic sensor measures distances

The arithmetic equation for determining the time taken

Wiring the ultrasonic sensor to the Raspberry Pi

The HC-SR04 sensor program

Using an LCD

Wiring the 16x2 LCD to the Raspberry Pi

Programming the LCD

The LCD program

The LCD and the ultrasonic sensor program

What is the I2C protocol?

Wiring the I2C LCD and the Raspberry Pi

Programming the LCD with the I2C LCD module

The I2C LCD and the ultrasonic sensor program

Building an obstacle-avoiding robot

Wiring connections

Programming the obstacle-avoiding robot

Summary

Questions

Controlling a Robot Using a Laptop

Technical requirements

Installing the ncurses library

ncurses functions

Writing a HelloWorld program with ncurses

Compiling and running the program

Controlling LEDs and a buzzer using ncurses

Wiring connections

Writing the LEDBuzzer.cpp program

Controlling a rover using a laptop keyboard

Building a laptop-controlled rover program

Tracing a square path

Installing and setting up QT5

Setting up QT5

Controlling LEDs with GUI buttons

Creating a QT project

Dealing with errors

Controlling a rover using a laptop with QT5

Summary

Questions

Section 3: Face and Object Recognition Robot

Accessing the RPi Camera with OpenCV

Technical requirements

Installing OpenCV 4.0.0 on Raspberry Pi

Uninstalling Wolfram and LibreOffice

Updating your RPi

Installing the cmake, image, video, and gtk packages

Downloading and unzipping OpenCV 4.0 and its contribution repository

Installing Python

Compiling and installing OpenCV

Linking OpenCV to Python

Enabling and connecting the RPi camera to RPi

Connecting the RPi camera to RPi

Mounting the RPi camera on the robot

Capturing images and video with the RPi camera

Recording a video with the RPi camera

Installing the v4l2 driver

Reading an image using OpenCV

Summary

Questions

Building an Object-Following Robot with OpenCV

Technical requirements

Image processing with OpenCV

Important functions in OpenCV

Object recognition using OpenCV

Capturing the image

Finding the RGB pixel values

The object detection program

The OpenCV camera feed program

Building an object-following robot

Ball tracing using moments

Programming logic

The ball tracing program

Setting up the object-following robot

Object-following robot program

Summary

Questions

Face Detection and Tracking Using the Haar Classifier

Technical requirements

Face detection using the Haar cascade

Basic working of the Viola-Jones algorithm

Face-detection program

Detecting the eyes and smile

Detecting the eyes

Eye detection using haarcascade_eye

Eye detection using haarcascade_lefteye_2splits and haarcascade_righteye_2splits

Detecting the left eye

Detecting the right eye

Recognizing a smile

Programming logic for smile recognition

Face-tracking robot

Wiring connections

The programming logic

Using the white dot on the face triangle to move the robot

Summary

Questions

Section 4: Smartphone-Controlled Robot

Building a Voice-Controlled Robot

Technical requirements

An introduction to App Inventor

Creating a Talking Pi Android app

Designing the app

Programming the blocks

Main block

Intermediate block

Final block

The Talking Pi program

Importing and exporting the .aia file of the app

Creating a voice-controlled bot app

Designing the app

Adding and customizing the components

Programming the voice-controlled bot block

Pairing the Android smartphone and RPi via Bluetooth

Enabling the Bluetooth serial port

Developing the Bluetooth program for RPi

Socket programming

VoiceBot server program

Testing the code

Summary

Questions

Assessments

Chapter 1: Introduction to the Raspberry Pi

Chapter 2: Implementing Blink with wiringPi

Chapter 3: Programming the Robot

Chapter 4: Building an Obstacle-Avoiding Robot

Chapter 5: Controlling a Robot Using a Laptop

Chapter 6: Building an Object-Following Robot with OpenCV

Chapter 7: Accessing the RPi Camera with OpenCV

Chapter 8: Face Detection and Tracking Using the Haar Classifier

Chapter 9: Building a Voice-Controlled Robot

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