Team Darts:

Nawal Dua

•

Patrick Heithoff

•

Edward Yeap Wen Fong

•

Sean Maloney

Published September 30, 2018 © GPL3+

UW-Makeathon: Darts

We made a device that tracks an object and prepositions itself based on the object's location in real time.

AdvancedShowcase (no instructions)Over 1 day1,219

Things used in this project

Hardware components

Arduino UNO

DC motor (generic)

9V battery (generic)

Relay Module (Generic)

Jumper wires (generic)

Software apps and online services

OpenCV

Arduino IDE

Hand tools and fabrication machines

3D Printer (generic)

OpenBuilds Drill Taps

Band Saw

Laser cutter (generic)

Story

Originally our idea was inspired by a video made by Mark Rober, where he made a dartboard that always got bulls-eye.

The limitation of our time, budget, and darts (as they are small and quick), made us decide to change this prototype to track a larger object that moves slower, like a tennis ball.

Our prototype will be able to track objects and move the "target" in a 2D space according to movement of the object being tracked. This can have many implications.

An application for this can be aircraft, spacecraft and satellite landing. Moving the landing pad can be beneficial in the case of any damage or malfunction to the craft/satellite.

This can also be beneficial people with motor disabilities such as Parkinson's Disease or Cerebral Palsy. This can help them reach out and grab things that they may previously struggle with, by moving the object that needs to be grabbed closer towards where their hand is headed.

Many people are lazy and try to throw their garbage into the trashcan from far. If they miss, they don't bother picking the trash back up and properly placing it in the trashcan. If we mount a trashcan on our device, then we can make sure that the lazy people that chuck their rubbish into the can from far wont miss. This helps clear litter.

This is our journey through some images:

Testing electronics and wire schematic through a breadboard

Our working prototype of the motor electronics.

1 / 2 • Patrick holding the centerpiece

Our functioning mechanics and electronics

This video shows the program, electronics and mechanics working together to move the target.

Schematics

Schematic Motor Wiring

This is the basic and first schematic we drew for how the motor will be wired. The switches in our diagram actually represent a relay board. There are two switches in the relay board that will be controlled through the microprocessor. One of the batteries is connected in the opposite terminals as the other. This makes it so that when one switch is open and the other is closed, the motor will spin one way, and the other way when the positions of both the switches are reversed.

Code

int relyPinOne = 8;
int relyPinTwo = 12;

int relyPinThree = 13;
int relyPinFour = 11;

int direction_rotate = 0;

void setup() {
  // put your setup code here, to run once:
  pinMode(relyPinOne, OUTPUT);
  pinMode(relyPinTwo, OUTPUT);

  pinMode(relyPinThree, OUTPUT);
  pinMode(relyPinFour, OUTPUT);
  Serial.begin(9600);
  
  digitalWrite(relyPinOne, LOW );
  digitalWrite(relyPinTwo, LOW );
  digitalWrite(relyPinThree, LOW );
  digitalWrite(relyPinFour, LOW );
  
  Serial.println("This is my First Example.");
}

void rotate_motor_one_right(){
   digitalWrite(relyPinTwo, LOW );
   digitalWrite(relyPinOne, LOW );
   digitalWrite(relyPinTwo, HIGH );
}

//Motor One
void rotate_motor_one_left(){
   digitalWrite(relyPinTwo, LOW );
   digitalWrite(relyPinOne, LOW );
   digitalWrite(relyPinOne, HIGH );
}

void rotate_motor_one_stop(){
   digitalWrite(relyPinTwo, LOW );
   digitalWrite(relyPinOne, LOW );
}

//Motor Two
void rotate_motor_two_right(){
   digitalWrite(relyPinThree, LOW );
   digitalWrite(relyPinFour, LOW );
   digitalWrite(relyPinFour, HIGH );
}

void rotate_motor_two_left(){
   digitalWrite(relyPinThree, LOW );
   digitalWrite(relyPinFour, LOW );
   digitalWrite(relyPinThree, HIGH );
}

void rotate_motor_two_stop(){
   digitalWrite(relyPinThree, LOW );
   digitalWrite(relyPinFour, LOW );
}

int delay_b = 40;
void loop() {
  while (Serial.available())
  {
    direction_rotate = Serial.read();
  }

  if (direction_rotate == '1'){
     Serial.println("Right Motor One");
     rotate_motor_one_right();
     delay(delay_b);
     rotate_motor_one_stop();
     direction_rotate = 0;
     
  }

  if (direction_rotate == '2'){
     Serial.println("Left Motor One");
     rotate_motor_one_left();
     delay(delay_b);
     rotate_motor_one_stop();
     direction_rotate = 0;
  }

  if (direction_rotate == '3'){
     Serial.println("Stop Motor One");
     rotate_motor_one_stop();
     direction_rotate = 0;
  }

    if (direction_rotate == '4'){
     Serial.println("Right Motor Two");
     rotate_motor_two_right();
     delay(delay_b);
     rotate_motor_two_stop();
     direction_rotate = 0;
  }

  if (direction_rotate == '5'){
     Serial.println("Left Motor Two");
     rotate_motor_two_left();
     delay(delay_b);
     rotate_motor_two_stop();
     direction_rotate = 0;
  }

  if (direction_rotate == '6'){
     Serial.println("Stop Motor Two");
     rotate_motor_two_stop();
     direction_rotate = 0;
  }
//
//  // put your main code here, to run repeatedly:
//    delay(1000);
//      digitalWrite(relyPinTwo, HIGH );
//      Serial.println("pin two off");
//
//       delay(1000);
//      digitalWrite(relyPinOne, HIGH);
//      Serial.println("Turing off pin one");
//       delay(1000);
//       
//      digitalWrite(relyPinTwo, LOW );
//       delay(1000);
//
//      digitalWrite(relyPinOne, HIGH );
//     Serial.println("pin two off");
//   
//           
//      digitalWrite(relyPinTwo, HIGH );
//       delay(1000);
//
//      digitalWrite(relyPinOne, LOW );

  
      
 
}

#!/usr/bin/env python

'''
Track a green ball using OpenCV.

    Copyright (C) 2015 Conan Zhao and Simon D. Levy

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License as 
    published by the Free Software Foundation, either version 3 of the 
    License, or (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

 You should have received a copy of the GNU Lesser General Public License 
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
'''

import cv2
import numpy as np

# For OpenCV2 image display
WINDOW_NAME = 'GreenBallTracker' 

def track(image):

    '''Accepts BGR image as Numpy array
       Returns: (x,y) coordinates of centroid if found
                (-1,-1) if no centroid was found
                None if user hit ESC
    '''

    # Blur the image to reduce noise
    blur = cv2.GaussianBlur(image, (5,5),0)

    # Convert BGR to HSV
    hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)

    # Threshold the HSV image for only green colors
    lower_green = np.array([40,70,70])
    upper_green = np.array([80,200,200])

    # Threshold the HSV image to get only green colors
    mask = cv2.inRange(hsv, lower_green, upper_green)
    
    # Blur the mask
    bmask = cv2.GaussianBlur(mask, (5,5),0)

    # Take the moments to get the centroid
    moments = cv2.moments(bmask)
    m00 = moments['m00']
    centroid_x, centroid_y = None, None
    if m00 != 0:
        centroid_x = int(moments['m10']/m00)
        centroid_y = int(moments['m01']/m00)

    # Assume no centroid
    ctr = (-1,-1)

    # Use centroid if it exists
    if centroid_x != None and centroid_y != None:

        ctr = (centroid_x, centroid_y)

        # Put black circle in at centroid in image
        total_y_center = round(image.shape[0]/2)
        total_x_center = round(image.shape[1]/2)
        print(total_y_center, total_x_center)



        cv2.circle(image, ctr, 30, (0,0,0))
        cv2.line(image,(total_x_center,total_y_center),(centroid_x,centroid_y),(0,0,0),5)

    # Display full-color image
    cv2.imshow(WINDOW_NAME, image)

    # Force image display, setting centroid to None on ESC key input
    if cv2.waitKey(1) & 0xFF == 27:
        ctr = None
    
    # Return coordinates of centroid
    print(ctr)
    return ctr

# Test with input from camera
if __name__ == '__main__':

    capture = cv2.VideoCapture(0)

    while True:

        okay, image = capture.read()

        if okay:

            if not track(image):
                break
          
            if cv2.waitKey(1) & 0xFF == 27:
                break

        else:

           print('Capture failed')
           break

#############

## Modified and used as open source


#!/usr/bin/env python

'''
Track a green ball using OpenCV.

    Copyright (C) 2015 Conan Zhao and Simon D. Levy

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License as 
    published by the Free Software Foundation, either version 3 of the 
    License, or (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

 You should have received a copy of the GNU Lesser General Public License 
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
'''

import cv2
import numpy as np
from time import sleep
import serial


# For OpenCV2 image display
WINDOW_NAME = 'GreenBallTracker' 

def track(image, on_target, count=0):

    # Assume no centroid
    ctr = (-1,-1)
    total_y_center = int(round(image.shape[0]/2))
    total_x_center = int(round(image.shape[1]/2))

    if not count % 10 == 0:
        return ((ctr), (total_x_center,total_y_center))

    '''Accepts BGR image as Numpy array
       Returns: (x,y) coordinates of centroid if found
                (-1,-1) if no centroid was found
                None if user hit ESC
    '''

    # Blur the image to reduce noise
    blur = cv2.GaussianBlur(image, (5,5),0)
    #image = image[200:800, 400:1500]

    # Convert BGR to HSV
    hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)

    # Threshold the HSV image for only green colors
    lower_green = np.array([40,70,70])
    upper_green = np.array([80,200,200])

    # Threshold the HSV image to get only green colors
    mask = cv2.inRange(hsv, lower_green, upper_green)
    
    # Blur the mask
    bmask = cv2.GaussianBlur(mask, (5,5),0)

    # Take the moments to get the centroid
    moments = cv2.moments(bmask)
    m00 = moments['m00']
    centroid_x, centroid_y = None, None
    if m00 != 0:
        centroid_x = int(moments['m10']/m00)
        centroid_y = int(moments['m01']/m00)



    print(image.shape)
    if on_target:
        cv2.circle(image, (total_x_center,total_y_center), 50, (0,255,0))
    else:
        cv2.circle(image, (total_x_center,total_y_center), 50, (0,0,255))

    # Use centroid if it exists
    if centroid_x != None and centroid_y != None:

        ctr = (centroid_x, centroid_y)

        cv2.circle(image, ctr, 50, (0,0,0))
        print(round(total_x_center),int(round(total_y_center))),(int(round(centroid_x)),int(round(centroid_y)))
        cv2.line(image,(int(round(total_x_center)),int(round(total_y_center))),(int(round(centroid_x)),int(round(centroid_y))),(0,0,0),5)

    # Display full-color image
    cv2.imshow(WINDOW_NAME, image)

    # Force image display, setting centroid to None on ESC key input
    if cv2.waitKey(1) & 0xFF == 27:
        ctr = None
    
    # Return coordinates of centroid
   # print(ctr)
    return (ctr, (total_x_center,total_y_center))
###########



def motor_1_right():
    ser.write('1')
    print ("motor one right")

def motor_1_left():
    ser.write('2')
    print ("motor one left")

def motor_1_off():
    ser.write('3') #send 0
    print ("Motor one OFF")

def motor_2_right():
    ser.write('4')
    print ("motor two right")

def motor_2_left():
    ser.write('5')
    print ("motor two left")

def motor_2_off():
    ser.write('6') #send 0
    print ("Motor two OFF")


ser = serial.Serial('/dev/cu.usbmodem1441', 9600) # Establish the connection on a specific port
sleep(2) 

LIMIT = 5
CENTER = 75
 
# Test with input from camera
if __name__ == '__main__':

    motor_one_left = 0
    motor_one_right = 0
    motor_two_left = 0
    motor_two_right = 0

    capture = cv2.VideoCapture(1)
    on_target = False

    while True:

        okay, image = capture.read()

        if okay:
            corr, center = track(image, on_target)

            if cv2.waitKey(1) & 0xFF == 27:
                break

            print(corr[0], corr[1])

            ##Reset
            motor_1_off()
            motor_2_off()
            if (corr[0] == -1 and corr[1] == -1):
                continue

            ## Within 100px stay still
            if abs(corr[0] - center[0]) < CENTER:
                motor_1_off()
            elif (corr[0] - center[0]) > 0 and motor_1_right <= LIMIT:
                motor_1_right()
                motor_one_right+=1
                motor_one_left-=1
            elif motor_one_left <= LIMIT:
                motor_1_left()
                motor_one_left+=1
                motor_one_right-=1


            if abs(corr[1] - center[1]) < CENTER:
                motor_2_off()
            elif (corr[1] - center[1]) > 0 and motor_two_right <= LIMIT:
                motor_2_right()
                motor_two_right+=1
                motor_two_left-=1
            elif motor_two_left <= LIMIT: 
                motor_2_left()
                motor_two_left+=1
                motor_two_right-=1


            if abs(corr[0] - center[0]) < CENTER and abs(corr[1] - center[1]) < CENTER:
                 on_target = True
            else:
                on_target = False



        else:

           print('Capture failed')
           break

from time import sleep
import serial
ser = serial.Serial('/dev/cu.usbmodem1441', 9600) # Establish the connection on a specific port
sleep(2) 

 
while 1:      #Do this in loop

    var = raw_input() #get input from user
   
    
    if (var == '1'):
        ser.write('1')
        print ("Right motor one right")
    
    if (var == '2'):
        ser.write('2')
        print ("Right motor one left")

    if (var == '3'):
        ser.write('3') #send 0
        print ("Motor one OFF")

     if (var == '4'):
        ser.write('4')
        print ("Right motor two right")
    
    if (var == '5'):
        ser.write('2')
        print ("Right motor two left")

    if (var == '6'):
        ser.write('6') #send 0
        print ("Motor two OFF")

UW-Makeathon: Darts

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Custom parts and enclosures

Pulley

Schematics

Schematic Motor Wiring

Schematic sketches of frame

Schematic sketches of frame 2

Code

Our Code

Our Code 2

Our Code 2 cont.

Our Code 2 Cont.2

Credits

Nawal Dua

Patrick Heithoff

Edward Yeap Wen Fong

Sean Maloney

Comments

Embed the widget on your own site

UW-Makeathon: Darts

UW-Makeathon: Darts

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Custom parts and enclosures

Pulley

Schematics

Schematic Motor Wiring

Schematic sketches of frame

Schematic sketches of frame 2

Code

Our Code

Our Code 2

Our Code 2 cont.

Our Code 2 Cont.2

Credits

Nawal Dua

Patrick Heithoff

Edward Yeap Wen Fong

Sean Maloney

Comments

Related channels and tags