Pixy2 Camera Specs:
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140mA operating
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Power input: USB input (5V) or unregulated input (6V to 10V)
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USB connection
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Serial UART connection
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I2C bus connection
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SPI Bus connection
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Analog output
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Digital output
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50 Frames/s
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Detects lines, intersections and simple barcodes
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Tracking algorithms that allows ability to track objects
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Lens field-of-view: 60 degrees horizontal, 40 degrees vertical
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Processor: NXP LPC4330, 204 MHz, dual core.
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Dimensions: 1.5” x 1.65” x 0.6”
In this diagram, you can see the general flow chart for the camera. When the line is to far from the center of the camera in either direction, the go kart will steering to correct.
In this video you can see the RC car following an orange ball I have attached to a post.
In this video the RC car is being pushed along under my force to show the steering capabilities with no control system.
This video shows the Pixy2 detecting an object, then using a servo motor powered by an Arduino to "follow" the desired object.
This video shows control system working on the go-kart, steering the wheels with a linear actuator.
Interrupt loop for control system
This is the section of code where the PWM value calculated from the interrupt loop and control system is sent to the motor driver and linear actuator.