This system holds a ball in balance on a plate. A webcam films the system and a python program analyzes the images to find the position of the ball. The python program calculates the tilting of the tray to prevent the ball from falling.
A proportional-integral-derivative (PID) regulator is used to compensate the movements of the ball. The position and speed of the ball are measured by the camera and these measurements are used by the PID regulator in the Python program.
The base is moved using a Microchip ATmega 32u4 microcontroller while the computer vision portion is on a laptop with connected USB camera. The computer uses a Python program and OpenCV to track the orange ball similar to this tutorial.
The code is available on GitHub here. It’s under a CC by SA 4.0 license.
Stop breadboarding and soldering – start making immediately! Adafruit’s Circuit Playground is jam-packed with LEDs, sensors, buttons, alligator clip pads and more. Build projects with Circuit Playground in a few minutes with the drag-and-drop MakeCode programming site, learn computer science using the CS Discoveries class on code.org, jump into CircuitPython to learn Python and hardware together, or even use Arduino IDE. Circuit Playground Express is the newest and best Circuit Playground board, with support for MakeCode, CircuitPython, and Arduino. It has a powerful processor, 10 NeoPixels, mini speaker, InfraRed receive and transmit, two buttons, a switch, 14 alligator clip pads, and lots of sensors: capacitive touch, IR proximity, temperature, light, motion and sound. A whole wide world of electronics and coding is waiting for you, and it fits in the palm of your hand.
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