Omni Wheel Robot part 2: Position control and tracking

previous video: • Omni wheel Robot part ...
stuff used:
- raspberry pi 3
- raspberry noir v2 camera
- IR leds
- IR pass filter (I used an old photo negative)
- NRF24L01
Souce code and cad files on github:
github.com/neu...
instagram:
/ kris.temmerman
website:
www.neuroproduc...

[@Legendinium]

Hey Kris, thanks for keeping us updated! Your mechanical solutions and and ingenuity continues to inspire. Keep it up!

[@KrisTemmermanNP]

Thanks! glad you like it :)

[@hahahaha8633]

Beautiful !!!! Thanks for such a beautiful video

[@GiacoWhatever]

Wow how did I miss this for two weeks? Awesome man, please more!!! :)

[@KrisTemmermanNP]

Thanks Giaco! No worries, there's more to come :)

[@1951split]

Nice to see you're back in business!!! You can't imagine how much I love watching these videos! That laser cutter is a nice addition to your shop!! Did you build it yourself?

[@KrisTemmermanNP]

Thanks :) Build it myself, but it's an open-source design. All the credits go to www.lasersaur.com/

[@ahmadfathulalim_te_0433]

Please make a tutorial for this robot, because I want to use this controller for my final project 🙏

[@mdandry]

I know it has been quite some time since you completed this build, but would you possibly be available to chat with about my omniwheel project?

[@dilliraj2098]

Kris i need to do odometry point to point moving robot.will you guide me..?

[@Achtelmann]

What did you study to get such great knowledge about robotics and machines?

[@KrisTemmermanNP]

Hi JT, I'm not really a "school person", All my knowledge is pieced together from things I found on the internet :)

[@mistermodding]

So, you haven't attended Ku Leuven or another top engineering school?

[@KrisTemmermanNP]

No, I'm probably missing a lot of basic stuff you learn at engineering school. But I try to fill those gaps while I'm making stuff :)

[@mistermodding]

My friend! You have more knowledge than 99% of engineers i know. Keep up the good work.

[@120ohm]

Just graduated from Purdue University here in the US. Another great engineering school, however its true, at the end of the day you dont learn anything... You must experiment on your own, be your own teacher, and incubate your passions!

[@ArmanOhanian]

Hi Kris! What a great project! Are the LEDs special or regular color LEDs?

[@ArmanOhanian]

I think I found the answer in the description. :) IR LEDs!

[@karengreer2756]

You should mass-produce these!

[@uncharted4076]

Another excellent video. You should start a patreon account

[@KrisTemmermanNP]

Thanks man! No, I'm not gonna start a patreon for now. Maybe in the future :)

[@vilmarrodriguesribeiro3731]

Eai gostei da sua CNC parabéns

[@djw0413]

Excellent vid!! I made it by myself referring to this video, but the other part works and compiles, but the robot does not move according to the cursor. What could be the problem in this case?

[@catherinescarrow9015]

Amazing!!! The piano is such a delight touch also. Thanks for sharing.

[@zaqiarmanovandi2919]

hey Kris, can you explain to me. How you can change coordinate to 3 motor pwm? thanks

[@rooster443]

I don't know you could use another way to track the robot. Doesn't need to be a raspberry...

[@ronvertongen834]

Fantastische start ... maar wat brengt de toekomst?

[@HeliosWorksAV]

incredible project, thank you for taking the time to share it.

[@Nodemcuesp-vw1sj]

up

[@abdullahalzaidy1535]

can you offer the steps in regards to the code

[@Luiblonc]

Hi Kris! I love your creations! Do you share your projects as far as a list of hardware, items used, code, etc? I'd love to create this Omi wheel project. Thanks

[@KrisTemmermanNP]

Yes and no. The code is opensource github.com/neuroprod/omniBotProto But i didn't write it to be opensource. It's not a ready made plug and play package and i don't give any support on it. In practice, you can use it as a refference, but you still have to make it yourself. Good luck with your project! :)

[@PhG1961]

Ah at last another video of Kris. I love it !! Great work ! I'm proud to find such a lot of talent here in Belgium !

[@KrisTemmermanNP]

Thanks, don't underestimate us :)

[@joseerazo2260]

Really nice robot :) what software do you use to design the mechanical parts ?

[@KrisTemmermanNP]

Thanks :) It's Fusion 360

[@w.fermat157]

Very impressive ... a lot of hints in less than 5 minutes time video ... Kris ! keep it up PLZ

[@KrisTemmermanNP]

Thanks :)

[@mikelemon5109]

Quality robotics! Do you know of First Robotics Competition?

[@KrisTemmermanNP]

Thanks Michael. No, I hadn't heard of it. Seems like a cool organisation, and a great way to get started with robotics!

[@kennethsch2943]

Hey Kris, nice to see you back! What material did you use with the lasercutter? That looked very clean. I only cut wood so far, but thats not the best thing for every project. Greetings and keep up the good work! :-)

[@KrisTemmermanNP]

Thanks :) It's acrylic, and yes, it cuts very nice. Its kind of brittle, but strong enough for things like this.

[@kennethsch2943]

Thank you! I knew that cutting acrylic is possible, however that didnt look like acrylic to me :D

[@chris_1337]

Incredible work! As always I'm amazed at the variety of skills you have.. and I can't wait to see what you're gonna do with the tracking system. Is there any resource you'd recommend to learn C++ btw?

[@seth8034]

Take a course at your local community college in C++, it's cheap (especially with the financial aid they offer, you can essentially go for free) and you will cover the basics of it all.

[@KrisTemmermanNP]

Thanks Man! Not sure I can recommend something. Maybe you can try to start with something like openframeworks or libcinder (check the examples and try to make something yourself ) You get fast results, while learning the language. If you start from scratch, its a rather long and painful path till you can do something useful depending on your previous programming experience. Good luck!

[@ericcmcgraw]

Interesting project, very well done. Also love the music, is it Mozart? What's the piece called?

[@KrisTemmermanNP]

Thanks :) It's Beethoven: musopen.org/music/775/ludwig-van-beethoven/piano-sonata-no-18-in-e-flat-major-the-hunt-op-31-no-3/

[@ericcmcgraw]

Thanks! Beethoven would've been my next guess. Two of my favorite composers.

[@samb9554]

Great vid Kris, glad to see some new posts from you :)

[@KrisTemmermanNP]

Thanks Sam! :)

[@MrLimetto]

Can you explain the principle behind tracking the robot? More precisely how you convert the raw picture into actual coordinates.

[@KrisTemmermanNP]

-with the IR image, you already start out with very well defined contrast (the image of the points, with the text in the video) -take the raw camera output (YUV) and only use the Y(greyscale) channel. so you don't have to convert to RGB, witch saves a lot of performance -apply a threshold to the pixels to make it a black and white picture (pixel

[@MrLimetto]

totally thanks ;)

[@AlwiArtwork]

please create 3 axis timelapse/video slider for dslr. :D

[@KrisTemmermanNP]

Thats actually on my todo list, but don't expect it soon :)

[@aryaanand759]

hey! kris i want to make a tracking system like this can you pls tell which software did you use to code?

[@KrisTemmermanNP]

The IDE is CLion. But you can use whatever you want. Its C++ with cmake, so you don't even need an IDE, you can just compile it in the console :)

[@aryaanand759]

thanks kris

[@jasonstokes5469]

Nice work!

[@squidinkRC]

Great video!!

[@KrisTemmermanNP]

Thanks man!

[@Ben-lv8hz]

great

[@KrisTemmermanNP]

Thanks :)

[@jorgespats5538]

Could you please explain the code?

[@KrisTemmermanNP]

Hi Jorge. I sometimes think about explaining the code. But its always so much code that it would take way to much time (and it would be quite a boring video) But if you have specific questions, feel free to ask, and I'll try to answers as best as I can. :)

[@jorgespats5538]

Thanks for answering my question. The problem about specific questions is that I'm such a newbie in all this stuff that i don't know where to start looking in the code with all those files, but I suppose that I have to continue learning before asking specific questions about the code.

[@KrisTemmermanNP]

Yes, I understand, Its not really newbie friendly code. And things like this are probably to complex/to much at once if you're just getting started. But you can try to start looking in this file: github.com/neuroprod/omniBotProto/blob/master/omnibotcontroler_RPI/BotTracker.cpp and keep following the files in the "#include" at the top. But keep up with learning how to code, the beginning is the most difficult. After a while it al becomes naturally to you, and you can read/follow any code you see :) good luck!

[@lmtythis]

First of all, thank you for your great videos. I have a specific question.. Do you have an absolute x,y coordinate system or it is relative to the actual position the robot is? Are you using opencv to track the robot?

[@KrisTemmermanNP]

Thanks :) It's absolute, and yes, its OpenCV, and its quite simple (which you need to get a decent framerate on a raspberry pi), check the update function here to find the center points of the leds github.com/neuroprod/omniBotProto/blob/master/omnibotcontroler_RPI/CameraHandler.cpp, and here: github.com/neuroprod/omniBotProto/blob/master/omnibotcontroler_RPI/PositionHandler.cpp (setPoints) to calculate the robot position and its rotation from the led center points. Keep in mind its still a work in progress, some things still have to be optimised, put in threads etc. :)