Beginning Robotics with Raspberry Pi and Arduino: Using Python and OpenCV

Table of Contents
About the Author
About the Technical Reviewer
Introduction
Chapter 1: Introduction to Robotics
	Robotics Basics
		Linux and Robotics
		Sensors and GPIO
		Motion and Control
	Raspberry Pi and Arduino
	Project Overview
		The Robot
		Bill of Materials (BOM)
	Summary
Chapter 2: An Introduction to Raspberry Pi
	Downloading and Installing Raspberry Pi OS
		Raspberry Pi OS with OpenCV
		The “Hard” Way
		The “Easy” Way
	Connecting Raspberry Pi
	Configuring Your Pi
		Users
			Securing Root
			Change the Default Username
	Going Headless
		Remote Access
			Remote Desktop with xrdp
			SSH with PuTTY
			Finding Your Device on a Network
	Summary
Chapter 3: A Crash Course in Python
	Python Overview
	Downloading and Installing Python
	Python Tools
		The Python Shell
		The Python Editor
		The Zen of Python
	Writing and Running a Python Program
		Hello World
		Basic Structure
			Program Parts
			Indentation
			Comments
		Running a Program
	Programming in Python
		Variables
		Data Types
			Strings
				String Manipulation
			Numbers
			Lists
			Tuples
			Dictionaries
			None Type
		A Final Note on Variables
		Control Structures
			if Statements
			Loops
				for Loop
				while Loop
		Functions
			Defining a Function
			Passing Arguments
			Default Values
			Return Values
		Adding Functionality Through Modules
			Importing and Using Modules
			Built-In Modules
			Extended Modules
			Custom Modules
		Classes
			Creating a Class
				Planning
					Initial Sample Robot Class
					Initial Sample Robot Class
		Styling
			Blank Lines
			Commenting
			Naming Conventions
	Summary
Chapter 4: Raspberry Pi GPIO
	Raspberry Pi GPIO
		Pin Numbering
		Connecting to the Raspberry Pi
		Limitations of Raspberry Pi’s GPIO
		Accessing GPIO with Python
		Simple Output: LED Example
			Hooking Up the Circuit
			Writing the Code
			Pulse Width Modulation (PWM)
				Hooking Up the Circuit
				Writing the Code
		Simple Input
			Push-Button Example
				Hooking Up the Circuit
				Writing the Code
			Sonic Rangefinder Example
				Hooking Up the Circuit
				Writing the Code
	Summary
Chapter 5: Raspberry Pi and Arduino
	Raspberry Pi’s GPIO in Review
		Real-Time or Near-Real-Time Processing
		Analog Input
		Analog Output
	Arduino to the Rescue
	Using Arduino
		Installing the Arduino IDE
		Connecting an Arduino
		Programming Arduino
			The Arduino IDE
				Icons and the Menu
				Creating a New Sketch
				Saving a Sketch
				Opening Existing Sketches
				Board and Port Selection
				Cheating with Examples
				Using Tabs and Multiple Files
		Sketches
			Hello, Arduino
			Anatomy of a Sketch
	A Brief Introduction to the Arduino Language
		Including Other Files
		Variables and Data Types
			Characters and Strings
				The String Object
			Numbers
			Arrays
		Control Structures
			if and else
			while Loops
			for Loops
			Functions
		Working with Pins
			Digital Operations
			Analog Input
			Analog Output (PWM)
			Pulsing LED
				The Circuit
				The Code
		Objects and Classes
		Serial
			Connecting to Serial
			Sending Serial Data
			Receiving Serial Data
		Arduino to Pi and Back Again
			Installing PySerial
			Sending Data to the Raspberry Pi
			Sending Data to the Arduino
	Pinguino
		Setting Up the Circuit
			The Code
				Arduino
				Raspberry Pi
	Summary
Chapter 6: Driving Motors
	Motors and Drivers
		Types of Motors
			DC Motors
			Brushless Motors
			Stepper Motors
				Servos
		Motor Properties
			Voltage
			Amperage
				Motors and Amps
		Motor Drivers
	Working with Motor Controllers
		Adafruit DC & Stepper Motor HAT
			Some Assembly Required
			Hooking Up the Motor Controller
			Using the Motor HAT
				Enabling I2C
				Installing the Library
				The Code
					Turning a Single Motor
					Turning Two Motors
		L298N Generic Motor Driver
			H-Bridge Motor Controller
			Using the L298N
				Arduino Code
				Hooking Up the L298N
				Turning One Motor
				Turning Two Motors
	Summary
Chapter 7: Assembling the Robot
	Assembling the Chassis
		Choosing a Material
		The Whippersnapper
	Mounting the Electronics
	Wiring
	Mounting Sensors
	The Finished Robot
		Making the Robot Mobile
			The Plan
				Sensors
				Motors
				Behavior
			The Code
				Arduino Code
				Raspberry Pi Code
	Summary
Chapter 8: Working with Infrared Sensors
	Infrared Sensors
		Types of IR Sensors
			Reflectance Sensors
				Line and Edge Detection
				Rangefinders
			Interrupt Sensors
			PIR Motion Detectors
	Working with IR Sensors
		Connecting an IR Sensor
		Mounting the IR Sensors
		The Code
			Arduino Code
			Python Code
	Understanding PID Control
		Control Loops
			Proportional, Integral, and Derivative Control
				Proportional Control
				Integral Control
				Derivative Control
			Bringing Them Together
		Implementing the PID Controller
			The Code
				Raspberry Pi Code
	Summary
Chapter 9: An Introduction to OpenCV
	Computer Vision
		OpenCV
			Installing OpenCV
				Installing the Prerequisites
				Installing OpenCV with pip install
				Compiling OpenCV from Source Code
		Selecting a Camera
		Installing the Camera
	OpenCV Basics
		Working with Images
			Displaying an Image
		Capturing Images
			Opening an Image File
			Capturing Video
				Viewing the Camera
				Recording Video
				Reading Video from a File
		Image Transformations
			Flipping
			Resizing
		Working with Color
			Color Spaces
			Color Filters
		Blobs and Blob Detection
			Finding a Blob
				The Parameters
				The Filters
					filterByColor
					filterByArea
					filterByCircularity
					filterByInertia
					filterByConvexity
			Blob Tracking
	Ball-Chasing Bot
	Summary
Chapter 10: Conclusion
	Types of Robotics
	Tools
		Software
			Choosing an IDE
			Design Software
				2D Drawing
				Circuit Board Design
				3D Design
		Hardware
			Basic Tools
			Specialty Tools
			Makerspaces
	Summary
Index