2023.8 the last time update

for myself and other supporters

-a complete system of detecting shapes and zcodes while controlling the robot arm system

-Using python to make it with raspberry 4B

-with ZhongLing Tech Company Servo and Uno MCU.

-Six degree of freedom robotic arm

-2 Pwm Servos and 4 Bus servos

including two kinds of solutions

-1:Deriving an action through the inverse of the final coordinate point and is inverse kinematics

-2.Forward kinematics, which directly adjusts the angle of each servo for control, is relatively rigid and can only rotate a fixed angle

The file structure

arm_control.py shows the inverse kinematics mean to control the robo_arm

cluster.py shows the basic way to use opencv to detect things.In this program,I use the python-opencv lib to invoke it. And it shows the way to detect different colors with RGB

shapes.py shows the hough circle algorithm and edge point algorithm to detect triangle and rectangle.

uart.py shows the basic usage of uart agreement.And I provide two ways to use it.You can use it with single threading or multiple threadings.

zcode.py uses the pyzbar lib to detect zcode.

word_detect.py is the final solution to use it.As I use it in the contest that is no longer available to other programs.So I just didn't show it all.

The progress and features

• [x] finish the program
• [x] can use with uart
• [x] can use with raspberry pi all series
• [x] support python >=3.8
• [x] support cv >=4.0
• [x] can use with other brands of ARM development board as it uses general libs.