All posts tagged torobot

I finally finished my port of the E1 object tracking from OpenCV (CV2) / Python 2.7 to OpenCV / Python 2.6. I had to do this because Beagleboard doesn’t have a readily available Python 2.7 package (at least not with Angstrom), and I didn’t realize that OpenCV (CV2) required Python 2.7 until after I developed the original code on my laptop.

This was a bit of pain because there are not many examples. If your platform supports Python 2.7, use OpenCV CV2! There are a lot of examples and it’s all object oriented. It’s so much more enjoyable to work with.

I made a quick and dirty web GUI so that I can adjust the HSV values in real-time. It works pretty well.

Tracking objects by HSV colors.

I also built a quick-and-dirty web interface to control the servos. The big motivator here was I replaced the original side-to-side movement with a pan-tilt configuration.

Unfortunately when used together, the board gets reset…. Still trying to figure out why…

Ultimately the E1 will be controlled by a beagle board computer. To accomplish this I bought a Torobot 24-servo controller board, but had a really hard time getting an easy-to-use API to interface it. I tried pyUSB to no avail.

Finally I found that the Torobot USB board could be communicated with through an Arduino serial driver. Conveniently this is available through opkg:

opkg install kernel-module-cdc-acm

When the board is plugged in, it comes up as


From here you can simply echo commands to the device.

echo "#8P1500T100" > /dev/ttyACM0

This basically says “set servo 8 to position 1500 with speed 100″. Doesn’t get much simpler than that!