Mastering BeagleBone Robotics电子书

Mastering BeagleBone Robotics

Table of Contents

Mastering BeagleBone Robotics

Credits

About the Author

About the Reviewers

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Preface

What this book covers

What you need for this book

Who this book is for

Conventions

Reader feedback

Customer support

Downloading the example code

Downloading the color images of this book

Errata

Piracy

Questions

1. Preparing the BeagleBone Black

Unpacking and powering up

Installing an operating system

Connecting to an external computer

Installing a Windows manager

Installing additional core software packages

Installing a vision library

Installing sound capability

Creating and recording sound

Making your BeagleBone Black speak

Installing speech recognition

Improving speech recognition accuracy

Responding to voice commands

Adding additional hardware and software for a fully functional core system

Summary

2. Building a Basic Tracked Vehicle

Choosing the tracked platform

Connecting a motor controller to control the speed of your tracked platform

Choosing the battery

Connecting the motor controller

Connecting the motor controller system

Controlling your mobile platform programmatically using the BeagleBone Black and Python

Adding program arguments to control your platform

Accessing motor control via voice commands

Summary

3. Adding Sensors to Your Tracked Vehicle

Basics of sensors

Adding distance sensors

Sonar sensors

Adding an array of inexpensive sonar sensors to the project

IR sensors

Dynamic path planning for your robot

Basic path planning

Avoiding obstacles

Summary

4. Vision and Image Processing

Connecting a webcam to the BeagleBone Black

Using OpenCV

Finding colored objects in your vision system

Following colored objects with your vision system

Finding movement in your vision system

Following movement with your robot

Summary

5. Building a Robot that Can Walk

Building robots that can walk

Working of servomotors

Building the quadruped platform

Using a servo controller to control the servos

Communicating with the servo controller via a PC

Connecting the servo controller to the BeagleBone Black

Creating a program on Linux to control your quadruped

Issuing voice commands to your quadruped

Summary

6. A Robot that Can Sail

The BeagleBone Black and robots that can sail

Building the sailboat platform

Controlling servos with the BeagleBone Black

Controlling the servos on the sailboat from a program

Remote control of the sailboat

A ZigBee tutorial

Summary

7. Using GPS for Navigation

Beginning with a GPS tutorial

Connecting GPS to the BeagleBone Black

Communicating with the GPS

Parsing the GPS information

Calculating distance and bearing

Summary

8. Measuring Wind Speed – Integrating Analog Sensors

Connecting an analog wind speed sensor

Getting sensor data from the wind speed sensor

Some basics of sailing

Summary

9. An Underwater Remotely Operated Vehicle

Building the hardware for the ROV

Controlling brushless DC motors using the BeagleBone Black

Program to control DC motors using the BeagleBone Black

Connecting to the BeagleBone Black via a long LAN

Accessing a camera for your project

Summary

10. A Quadcopter

Basics of quadcopter flight

Building the quadcopter

Connecting the BeagleBone Black to the quadcopter

Controlling the quadcopter using the BeagleBone Black

Summary

11. An Autonomous Quadcopter

Controlling quadcopter flight wirelessly

Adding a game controller to your system

Adding a webcam for autonomous flight

Adding GPS for autonomous flight

Summary

Index