Book Image

Hands-On Robotics Programming with C++

By : Dinesh Tavasalkar, Lentin Joseph
Book Image

Hands-On Robotics Programming with C++

By: Dinesh Tavasalkar, Lentin Joseph

Overview of this book

C++ is one of the most popular legacy programming languages for robotics, and a combination of C++ and robotics hardware is used in many leading industries. This book will bridge the gap between Raspberry Pi and C/C++ programming and enable you to develop applications for Raspberry Pi. You'll even be able to implement C programs in Raspberry Pi with the WiringPi library. The book will guide you through developing a fully functional car robot and writing programs to move it in different directions. You’ll then create an obstacle-avoiding robot using an ultrasonic sensor. In addition to this, you’ll find out how to control the robot wirelessly using your PC or Mac. This book will also help you work with object detection and tracking using OpenCV, and guide you through exploring face detection techniques. Finally, you will create an Android app and control the robot wirelessly with an Android smartphone. By the end of this book, you will have gained experience in developing a robot using Raspberry Pi and C/C++ programming.

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Table of Contents (16 chapters)
Preface
Preface
Who this book is for
What this book covers
To get the most out of this book
Get in touch
Free Chapter
1
Section 1: Getting Started with wiringPi on a Raspberry Pi
Section 1: Getting Started with wiringPi on a Raspberry Pi
2
Introduction to the Raspberry Pi
Introduction to the Raspberry Pi
Technical requirements
Understanding the Raspberry Pi
Setting up a Raspberry Pi 3B+ as a desktop computer
Connecting the Raspberry Pi 3B+ to a laptop via Wi-Fi
Setting up the Raspberry Pi Zero W as a desktop computer
Connecting the Raspberry Pi Zero W to a laptop via Wi-Fi
Summary
Questions
3
Implementing Blink with wiringPi
Implementing Blink with wiringPi
Technical requirements
Installing the wiringPi library in the Raspberry Pi
Making an LED blink
Smart light – working with digital sensor
Pulse Width Modulation using softPWM
Summary
Questions
4
Section 2: Raspberry Pi Robotics
Section 2: Raspberry Pi Robotics
5
Programming the Robot
Programming the Robot
Technical requirements
Choosing a robot chassis
Constructing and connecting the robot
Working with H-bridge
Moving the robot
Summary
Questions
6
Building an Obstacle-Avoiding Robot
Building an Obstacle-Avoiding Robot
Technical requirements
Using an ultrasonic sensor
Using an LCD
Building an obstacle-avoiding robot
Summary
Questions
7
Controlling a Robot Using a Laptop
Controlling a Robot Using a Laptop
Technical requirements
Installing the ncurses library
Controlling LEDs and a buzzer using ncurses
Controlling a rover using a laptop keyboard
Installing and setting up QT5
Controlling LEDs with GUI buttons
Controlling a rover using a laptop with QT5
Summary
Questions
8
Section 3: Face and Object Recognition Robot
Section 3: Face and Object Recognition Robot
9
Accessing the RPi Camera with OpenCV
Accessing the RPi Camera with OpenCV
Technical requirements
Installing OpenCV 4.0.0 on Raspberry Pi
Enabling and connecting the RPi camera to RPi
Capturing images and video with the RPi camera
Reading an image using OpenCV
Summary
Questions
10
Building an Object-Following Robot with OpenCV
Building an Object-Following Robot with OpenCV
Technical requirements
Image processing with OpenCV
Building an object-following robot
Summary
Questions
11
Face Detection and Tracking Using the Haar Classifier
Face Detection and Tracking Using the Haar Classifier
Technical requirements
Face detection using the Haar cascade
Detecting the eyes and smile
Face-tracking robot
Summary
Questions
12
Section 4: Smartphone-Controlled Robot
Section 4: Smartphone-Controlled Robot
13
Building a Voice-Controlled Robot
Building a Voice-Controlled Robot
Technical requirements
An introduction to App Inventor
Creating a voice-controlled bot app
Pairing the Android smartphone and RPi via Bluetooth
Developing the Bluetooth program for RPi
Summary
Questions
14
Assessments
Assessments
Chapter 1: Introduction to the Raspberry Pi
Chapter 2: Implementing Blink with wiringPi
Chapter 3: Programming the Robot
Chapter 4: Building an Obstacle-Avoiding Robot
Chapter 5: Controlling a Robot Using a Laptop
Chapter 6: Building an Object-Following Robot with OpenCV
Chapter 7: Accessing the RPi Camera with OpenCV
Chapter 8: Face Detection and Tracking Using the Haar Classifier
Chapter 9: Building a Voice-Controlled Robot
15
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Accessing the RPi Camera with OpenCV

One of the most exciting things we can do with Raspberry Pi is recognize objects and faces by connecting it to an external USB webcam or Raspberry Pi camera (RPi camera).

To process these inputs from the camera, we will use the OpenCV libraries. As the installation of OpenCV takes a long time and involves multiple steps, this whole chapter will be dedicated to getting you up and running.

In this chapter, you will explore the following topics:

  • Installing OpenCV 4.0.0 on Raspberry Pi
  • Enabling and connecting the RPi camera to RPi
  • Capturing images and video with the RPi camera
  • Reading an image using OpenCV
Previous Section
End of Section 1
Next Section