Trajectory_Intercept_System

C++ and Arduino project using OpenCV

Installation

git clone https://github.com/ColinHarker/Trajectory_Intercept_System.git

This project files requires the installation of OpenCV:

• OpenCV

Following are some links to help install OpenCV on mac, windows and linux:

OpenCV - Mac | Windows | Ubuntu

Run

cd <Trajectory_Intercept_System_Directory>
cmake .
make
./Trajectory_Intercept_System

Quick Start

Include the following header

#include "Linker.hpp"

In the 'constants.hpp' file this is where you specify;

• How many frames of data will be calculated

  constexpr int kNumCalcFrames = ;

• At what point does the frame calculation start

  constexpr int kStartFrame = ;

• How many frames in the future do you want to predict

  constexpr int kNumPredictedFrames = ;

• If you are sending data out of a port, you include the port name

  constexpr char kPortName[] = "";

Calculate Future Trajectory

1. Create two arrays, for "X" and "Y" coordinates in all frames up until a given point.

int frame_data_x[constants::kNumCalcFrames];
int frame_data_y[constants::kNumCalcFrames];

2. Send data to the calculate trajectory function asynchronously, the predicted point needs to be calculated as fast as possible.

auto future_x = std::async(calculateTrajectory, frame_data_x);
auto future_y = std::async(calculateTrajectory, frame_data_y);

About

This project was created to make a nerf gun turret be able to track and fire a dart to intercept an object flying through the air