Hands-On Robotics Programming with C++

Leverage Raspberry Pi 3 and C++ libraries to build intelligent robotics applications

Dinesh Tavasalkar 지음

Packt(GCO Science) 2019년 02월 28일 출간

작품소개

책소개

▶What You Will Learn
？ Install software in Raspberry Pi compatible with C++ programming
？ Program the Raspberry Pi in C++ to run a motor
？ Control RPi-powered robot wirelessly with your laptop or PC
？ Program an RPi camera using OpenCV Control a Raspberry Pi robot with voice commands
？ Implement face and object detection with Raspberry Pi

▶Key Features
？ Build an intelligent robot that can detect and avoid obstacles and respond to voice commands
？ Detect and track objects and faces using OpenCV
？ Control your robot with a GUI button designed using Qt5

▶Who This Book Is For
This book is for developers, programmers, and robotics enthusiasts interested in leveraging C++ to build exciting robotics applications. Prior knowledge of C++ is necessary to understand the projects covered in this book.

목차

▶TABLE of CONTENTS
1 Introduction to the Raspberry Pi
2 Implementing Blink with wiringPi
3 Programming the Robot
4 Building an Obstacle-Avoiding Robot
5 Controlling a Robot Using a Laptop
6 Accessing the RPi Camera with OpenCV
7 Building an Object-Following Robot with OpenCV
8 Face Detection and Tracking Using the Haar Classifier
9 Building a Voice-Controlled Robot

책 속으로

▶What this book covers
？ Chapter 1, Introduction to the Raspberry Pi, covers different modes of Raspberry Pi and GPIO pin configuration. Then, we will set up Raspberry Pi B+ and Raspberry Pi Zero and install the Raspbian OS on it. We will also learn how to connect a Raspberry Pi to a laptop wirelessly via a Wi-Fi network.

？ Chapter 2, Implementing Blink with wiringPi, covers the installation of the wiringPi library. In this chapter, we will understand the wiringPi pin connections for the Raspberry Pi. Then, we will write two C++ programs and will upload them onto our Raspberry Pi.

？ Chapter 3, Programming the Robot, covers the criteria for selecting a robot chassis. After that, we will construct our car, connect the motor driver to the Raspberry Pi, and understand the workings of an H-bridge circuit. Finally, we will write programs to move the robot forward, backward, left, and right.

？ Chapter 4, Building an Obstacle-Avoiding Robot, looks at how an ultrasonic sensor works, and we will write a program to measure distance values. Next, we will program the 16 x 2 LCD to read the ultrasonic distance value. We will also look at the I2C LCD, which takes the 16 LCD pin as an input and provides four pins as an output, thus simplifying the wiring connections. Finally, we will fit the ultrasonic sensor on our robot to create our obstacleavoiding robot. This robot will move freely when there are no obstacles near it, and if it approaches an obstacle, it will avoid it by taking a turn.

？ Chapter 5, Controlling a Robot Using a Laptop, looks at two different techniques for controlling the robot using a laptop. In the first technique, we will use the ncurses library to take input from the keyboard to move the robot accordingly. In the second technique, we will use the QT Creator IDE to create GUI buttons, and then use these buttons to move the robot in different directions.

？ Chapter 6, Accessing Rpi Cam with OpenCV, focuses on the installation of OpenCV on the Raspberry Pi. You will also be introduced to the Raspberry Pi camera module and, after setting up the Pi camera, you will take pictures and record a short video clip using the Pi camera.

？ Chapter 7, Building an Object-Following Robot with OpenCV, covers some of the important functions inside OpenCV libraries. After that, we will put these functions to the test and attempt to recognize an object from an image. Then, we will learn how to read a video feed from the Pi camera, how to threshold a colored ball, and how to place a red dot on top of it. Finally, we will use the Pi camera and the ultrasonic sensor to detect the ball and follow it.

？ Chapter 8, Face Detection and Tracking Using Haar Classifier, uses the Haar face classifier to detect a face from a video feed and draw a rectangle around it. Next, we will detect eyes and a smile on the given face and create a circle surrounding the eyes and mouth. After using this knowledge of face and eye detection, we will first turn the LED on/off when the eyes and smile are detected. Next, by creating a white dot in the center of the face, we will make the robot follow the face.

？ Chapter 9, Building a Voice-Controlled Robot, starts with creating our first Android application, called Talking Pi, in which text written inside the textbox will be displayed in a label and also read out by the smartphone. We will then develop a voice-controlled Android app for the bot, which will recognize our voice and send text to the RPi via Bluetooth. After this, using the terminal window, we will pair the Android smartphone's Bluetooth with the RPi's Bluetooth. Finally, we will look at socket programming and write the VoiceBot program to establish a connection with the Android smartphone's Bluetooth in order to control the robot.

출판사 서평

▶ Preface
C++ is one of the most popular legacy programming languages for robotics, and a combination of C++ and robotics hardware is used in many leading industries. This book will bridge the gap between Raspberry Pi and C/C++ programming and enable you to develop applications for Raspberry Pi. To follow along with the projects covered in the book, you can implement C programs in Raspberry Pi with the wiringPi library.

With this book, you'll develop a fully functional car robot and write programs to move it in different directions. You'll then create an obstacle - avoiding robot using an ultrasonic sensor. Furthermore, you'll find out how to control the robot wirelessly using your PC/Mac. This book will also help you work with object detection and tracking using OpenCV, and guide you through exploring face detection techniques. Finally, you will create an Android app and control the robot wirelessly with an Android smartphone.

By the end of this book, you will have gained experience in developing a robot using Raspberry Pi and C/C++ programming.

작가정보

저자(글) Dinesh Tavasalkar

Dinesh Tavasalkar is a trainer and online instructor from India. He has trained more than 8,000+ students on topics related to robotics, Internet of Things, Arduino, Raspberry Pi, Android app development, augmented reality, and virtual reality. Dinesh's online courses have been undertaken by 25,000+ people on Udemy from more than 150+ countries. Some of his popular courses on Udemy include Robotics for beginners, Smartphone Control Robot using Arduino and Android, Build Augmented Reality apps using Unity and Vuforia, and Build Virtual Reality games for Google Cardboard using Unity. He also runs a YouTube channel called EngineersDream, where he teaches Android application development.