5.0 Pixy2 Camera - SwollEngineAF/lipan GitHub Wiki

Welcome to the official wiki for Pixy2-based Object Detection & Robotic Control. This project integrates the Pixy2 CMUcam5 with a Raspberry Pi + Arduino setup to track coloured objects, control a 4-DOF robot arm, and drive a mobile platform.

pixy2/
├── src/
│   └── host/
│       └── libpixyusb2_examples/
│           └── get_blocks_cpp_demo/   # Main vision logic + serial interface
├── arduino/
│   └── robot_arm.ino                  # Arduino sketch to control servos
│   └── robot_drive.ino                # Arduino sketch for DC motor drive
└── README.md

1. Pixy2 tracks colour signatures (Signatures 1–5).

2. Raspberry Pi:

   • Receives object data (x, y, width, height).

   • Maps pixel coordinates to PWM values.

   • Sends serial commands to:

     • Arduino 1: Move servos for arm base, shoulder, elbow, and gripper.

     • Arduino 2: Control differential drive based on object distance.

3. Arduino:

   • Decodes commands like B:300, L:500, F, S, B for actuation.

• Real-time colour object detection

• Depth approximation using pixel area

• Automatic arm control based on target position

• Motion control: Slow approach, auto-stop, and reverse on proximity

• Supports 4-DOF arm + DC drive platform

On Raspberry Pi (Ubuntu 22.04):

cd ~/pixy2/src/host/libpixyusb2_examples/get_blocks_cpp_demo
make
./get_blocks_cpp_demo

Make sure Pixy2 is connected via USB and you've granted access:

sudo chmod 666 /dev/ttyUSB0
sudo chmod 666 /dev/ttyUSB1

[Pi → Arduino] B:340   # Base rotation
[Pi → Arduino] L:450   # Left shoulder
[Pi → Arduino] R:440   # Right shoulder
[Pi → Arduino] A:370   # Arm/gripper
[Pi → Arduino] G:450   # Grip close
[Pi → Arduino] F       # Drive forward

• robot_arm.ino: Controls servo-based manipulator using mapped PWM

• robot_drive.ino: Controls 4 DC motors using Adafruit Motor Shield v1 with speed variation based on object distance

• Pixy2 Official Docs

• LibPixyUSB2

• CMUcam5 Wiki

• Forked from charmedlabs/pixy2

• Modified and extended by Syahiid Rasidi for ROS-integrated semi-autonomous field robotics

Want me to generate it as a .md file or add a ROS 2 integration section next?

Welcome to the official wiki for Pixy2-based Object Detection & Robotic Control. This project integrates the [Pixy2 CMUcam5](https://pixycam.com/pixy2/) with a Raspberry Pi + Arduino setup to track coloured objects, control a 4-DOF robot arm, and drive a mobile platform.

pixy2/
├── src/
│   └── host/
│       └── libpixyusb2_examples/
│           └── get_blocks_cpp_demo/   # Main vision logic + serial interface
├── arduino/
│   └── robot_arm.ino                  # Arduino sketch to control servos
│   └── robot_drive.ino                # Arduino sketch for DC motor drive
└── README.md

1. Pixy2 tracks colour signatures (Signatures 1–5).

2. Raspberry Pi:

   • Receives object data (x, y, width, height).

   • Maps pixel coordinates to PWM values.

   • Sends serial commands to:

     • Arduino 1: Move servos for arm base, shoulder, elbow, and gripper.
     • Arduino 2: Control differential drive based on object distance.

3. Arduino:

   • Decodes commands like B:300, L:500, F, S, B for actuation.

• Real-time colour object detection
• Depth approximation using pixel area
• Automatic arm control based on target position
• Motion control: Slow approach, auto-stop, and reverse on proximity
• Supports 4-DOF arm + DC drive platform

On Raspberry Pi (Ubuntu 22.04):

cd ~/pixy2/src/host/libpixyusb2_examples/get_blocks_cpp_demo
make
./get_blocks_cpp_demo

Make sure Pixy2 is connected via USB and you've granted access:

sudo chmod 666 /dev/ttyUSB0
sudo chmod 666 /dev/ttyUSB1

[Pi → Arduino] B:340   # Base rotation
[Pi → Arduino] L:450   # Left shoulder
[Pi → Arduino] R:440   # Right shoulder
[Pi → Arduino] A:370   # Arm/gripper
[Pi → Arduino] G:450   # Grip close
[Pi → Arduino] F       # Drive forward

• robot_arm.ino: Controls servo-based manipulator using mapped PWM
• robot_drive.ino: Controls 4 DC motors using Adafruit Motor Shield v1 with speed variation based on object distance

• [Pixy2 Official Docs](https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:start)
• [LibPixyUSB2](https://github.com/charmedlabs/pixy2/tree/master/src/host/libpixyusb2)
• [CMUcam5 Wiki](https://en.wikipedia.org/wiki/CMUcam)

• Forked from [charmedlabs/pixy2](https://github.com/charmedlabs/pixy2)
• Modified and extended by [Syahiid Rasidi](https://github.com/spbsyahiid) for ROS-integrated semi-autonomous field robotics