Hands-On Robotics Programming with C++: Leverage Raspberry Pi 3 and C++ libraries to build intelligent robotics applications

Cover
Title Page
Copyright and Credits
Dedication
About Packt
Contributors
Table of Contents
Preface
Section 1: Getting Started with wiringPi on a Raspberry Pi
Chapter 1: Introduction to the Raspberry Pi
	Technical requirements
		Software required
		Hardware requirements
			For Raspberry Pi 3B+ and Raspberry Pi Zero W
			Additional hardware for Raspberry Pi 3B+
			Additional hardware requirements for Raspberry Pi Zero W
	Understanding the Raspberry Pi
		The Raspberry Pi 3B+
		The Raspberry Pi Zero W
	Setting up a Raspberry Pi 3B+ as a desktop computer
		Installing Raspbian OS on an SD card
			Downloading and installing Etcher 
			Downloading the Raspbian Stretch image 
			Writing the Raspbian Stretch image to a microSD card
		Setting up the Raspberry Pi 3B+
			Connecting the Raspberry Pi 3B+ to the internet
	Connecting the Raspberry Pi 3B+ to a laptop via Wi-Fi
		Creating an SSH file on a microSD card
		Connecting the Raspberry Pi 3B+ to a Wi-Fi network using PuTTY
		Enabling the VNC server
		Viewing the Raspberry Pi output on the VNC Viewer
			Increase the VNC\'s screen resolution
			Handling VNC and PuTTY errors
	Setting up the Raspberry Pi Zero W as a desktop computer
		Setting up the Raspberry Pi Zero W
	Connecting the Raspberry Pi Zero W to a laptop via Wi-Fi
		Connecting the Raspberry Pi Zero W to a Wi-Fi network using PuTTY
		Enabling VNC Viewer for Raspberry Pi Zero W
		Viewing Raspberry Pi Zero W output on VNC Viewer
	Summary
	Questions
Chapter 2: Implementing Blink with wiringPi
	Technical requirements
	Installing the wiringPi library in the Raspberry Pi
		Accessing Raspberry Pi GPIO pins via wiringPi
	Making an LED blink
		Wiring connections
		The blinking program
			Uploading the code to the Raspberry Pi
	Smart light – working with digital sensor
		The LDR sensor and the way it works
		Wiring connection
		 Smart light program
	Pulse Width Modulation using softPWM
		How PWM works
		The softPWM library
			Making an LED blink with the softPWM library
	Summary
	Questions
Section 2: Raspberry Pi Robotics
Chapter 3: Programming the Robot
	Technical requirements
	Choosing a robot chassis
	Constructing and connecting the robot
		Constructing the robot
		Connecting the motor driver to the Raspberry Pi 
			What is a motor driver?
			Wiring connections
	Working with H-bridge
	Moving the robot
		Moving the robot backward
		Stopping the robot
		Different types of turns
			Axial turns
				Axial left turn
				Axial right turn
			Radial turn
				Radial left turn
				Radial right turn
	Summary
	Questions
Chapter 4: Building an Obstacle-Avoiding Robot
	Technical requirements
	Using an ultrasonic sensor
		How an ultrasonic sensor measures distances
			The arithmetic equation for determining the time taken
		Wiring the ultrasonic sensor to the Raspberry Pi
		The HC-SR04 sensor program
	Using an LCD
		Wiring the 16x2 LCD to the Raspberry Pi
		Programming the LCD
			The LCD program
			The LCD and the ultrasonic sensor program
		What is the I2C protocol?
			Wiring the I2C LCD and the Raspberry Pi
			Programming the LCD with the I2C LCD module
			The I2C LCD and the ultrasonic sensor program
	Building an obstacle-avoiding robot
		Wiring connections
		Programming the obstacle-avoiding robot
	Summary
	Questions
Chapter 5: Controlling a Robot Using a Laptop
	Technical requirements
	Installing the ncurses library 
		ncurses functions
		Writing a HelloWorld program with ncurses
			Compiling and running the program
	Controlling LEDs and a buzzer using ncurses
		Wiring connections
		Writing the LEDBuzzer.cpp program
	Controlling a rover using a laptop keyboard
		Building a laptop-controlled rover program
		Tracing a square path
	Installing and setting up QT5 
		Setting up QT5
	Controlling LEDs with GUI buttons
		Creating a QT project 
			Dealing with errors
	Controlling a rover using a laptop with QT5
	Summary
	Questions
Section 3: Face and Object Recognition Robot
Chapter 6: Accessing the RPi Camera with OpenCV
	Technical requirements
	Installing OpenCV 4.0.0 on Raspberry Pi
		Uninstalling Wolfram and LibreOffice
		Updating your RPi
		Installing the cmake, image, video, and gtk packages
		Downloading and unzipping OpenCV 4.0 and its contribution repository
		Installing Python
		Compiling and installing OpenCV 
		Linking OpenCV to Python
	Enabling and connecting the RPi camera to RPi
		Connecting the RPi camera to RPi
		Mounting the RPi camera on the robot
	Capturing images and video with the RPi camera
		Recording a video with the RPi camera
		Installing the v4l2 driver
	Reading an image using OpenCV
	Summary
	Questions
Chapter 7: Building an Object-Following Robot with OpenCV
	Technical requirements
	Image processing with OpenCV
		Important functions in OpenCV 
		Object recognition using OpenCV
			Capturing the image
			Finding the RGB pixel values 
			The object detection program
		The OpenCV camera feed program
	Building an object-following robot
		Ball tracing using moments
			Programming logic
			The ball tracing program 
		Setting up the object-following robot
			Object-following robot program
	Summary
	Questions
Chapter 8: Face Detection and Tracking Using the Haar Classifier
	Technical requirements
	Face detection using the Haar cascade
		Basic working of the Viola-Jones algorithm 
		Face-detection program
	Detecting the eyes and smile
		Detecting the eyes
			Eye detection using haarcascade_eye
			Eye detection using haarcascade_lefteye_2splits and haarcascade_righteye_2splits 
				Detecting the left eye
				Detecting the right eye
		Recognizing a smile 
			Programming logic for smile recognition
	Face-tracking robot
		Wiring connections 
			The programming logic
			Using the white dot on the face triangle to move the robot
	Summary
	Questions
Section 4: Smartphone-Controlled Robot
Chapter 9: Building a Voice-Controlled Robot
	Technical requirements
	An introduction to App Inventor
		Creating a Talking Pi Android app
			Designing the app
			Programming the blocks
				Main block
				Intermediate block
				Final block
			The Talking Pi program
			Importing and exporting the .aia file of the app
	Creating a voice-controlled bot app
		Designing the app
			Adding and customizing the components
		Programming the voice-controlled bot block
	Pairing the Android smartphone and RPi via Bluetooth
		Enabling the Bluetooth serial port
	Developing the Bluetooth program for RPi
		Socket programming
		VoiceBot server program
			Testing the code
	Summary
	Questions
Assessments
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Index