Arrow direction detection using Python OpenCV, integrated with Adafruit PCA9685 PWM controller

Requirements

pipenv (pi3 install pipenv)

Setup

1. Clone this repo
2. Enter directory
3. Run pipenv install: This will install the Python 3.10 (locally) as well as the required packages (also locally).
4. Run pipenv shell to enter the pipenv environment
5. If you run python -V you should now see 3.10

Calibration

1. Run the testPWM.py file
2. Select 1 for testing steering PWM values and 2 for throttle PWM values
3. Enter values. These values should be less than 4069 will result in the value/4096 being set as the duty cycle.
4. Save your values in config.py

Running the car

• Run signDetection.py to process images in real time and send according PWM values.
• Run stopCar.py at anytime to send a neutral to the ESC and get the steering back to normal. The KeyboardInterrupt exception in the signDetection.py also calls this file to stop the car.

Credits

The image processing pipeline here has been taken from https://github.com/VyomGarg47/Arrow-Angle-detector. Code has been slightly modified.