WP4-RaspberryPi-Code

These programs were used for the WP4 project. They have been implemented on a RaspberryPi 4 b.
The Raspberry Pi had two motors, a distance sensor adafruit vl6180x, and a RaspberryPi camera connected to it.

Gui.py

This code is a GUI interface to control both motors and the adafruit ditance sensor.
You will need a screen to use it. Connect it directly to the raspberry pi or connect remotely to the raspberry pi to visualise the GUI.
Make sure the motors are connected to the right ports defined in the code.

TagDetect_Distance.py

This code works with a Raspberry Pi camera and the distance sensor adafruit vl6180x
Every 10 seconds, a picture will be taken with the camera. It is then saved with its timestamp as a name.
The picture will then be open and the code will check if an AprilTag from the family tag36h11 is in the picture.
If an AprilTag has been detected, a bounding box will be created around it and the distance sensor will is activated to see how far the AprilTag is.
The picture with the bounding box will be shown for 5 sec and the distance range will be printed on the terminal.

Note: A different family of AprilTag can be used. You need to change it in the code (L 64).

vl6180.py

This code works with distance sensor adafruit vl6180x.
It will continuously run the distance sensor every second and print the distance on the terminal.

montor_control.py

This code controls a DC motor using a keyboard.
Every move command will take 2 seconds.

raspcam_stream.py

This code uses the Raspberry Pi camera to take a video for 10 seconds.
You can stream for longer by modifying L 19.