Bounce

Bounce is computer-vision-controlled Stewart platform designed to juggle a ping pong ball. Algorithms predict where the ball will fall, our Stewart platform moves into place, and our laser sensing system triggers our hitting mechanism to fire.

Dependencies

• opencv-2
• python2
• scipy
• numpy
• bitstring

Running

python2 track_omega.py

Arguments

• --csv log ball locations to points.csv
• --serial send desired servo positions over serial (required to make platform move)
• --headless run without webcam output frames
• --predict use predictive modeling to move platform under ball (works best without this)

Tweaking for different Stewart platforms

The findangles.py file contains variables for defining the different parameters of a Stewart platform, including servo min and max values.