Vision Framework

Objective

Create a reprogrammable module in which a Raspberry Pi 3, protective case, power cable, light ring, and camera are self contained and execute a base program on startup. The base code of the module continuously reads the camera feed (subscribes to camera) and publishes corresponding data via the Pi's serial output (located on the Pi's GPIO connector). This data can then be fairly simply read by the RoboRIO. We hope that this will make implementing a vision subsystem a more simple proposition, allowing more teams to do so.

Materials

• Clear Case
• Raspberry Pi 3 (with NOOBS installed on Micro SD card)
• Ribbon Cable Camera (need 3)
• Micro USB Cable
• Light Ring
• 3-pin female to female jumper wire

Raspberry Pi Setup

Install ​Win32 Disk Imager
Install ​Raspian Lite onto MicroSD card via Win32 Disk Imager

Load Raspberry Pi 3 (rpi) with the newly imaged MicroSD

username: pi
password: raspberry

connect to wifi by adding the following to the /etc/network/interfaces file:

auto wlan0
iface wlan0 inet dhcp
  wpa-ssid "your-ssid"
  wpa-psk  "your-password"

reboot the pi:

sudo shutdown -r now

update with the following commands:

sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade
sudo apt-get clean

set localization configuration options:

sudo raspi-config

reboot:

sudo shutdown -r now

Install Xorg and Xinit:

sudo apt-get install --no-install-recommends xserver-xorg
sudo apt-get install --no-install-recommends xinit

Install the MATE GUI:

sudo apt-get install mate-desktop-environment-core

Install LightDM login manager:

sudo apt-get install lightdm

reboot:

sudo shutdown -r now

login to MATE
At the top left:
navigate to preferences -> hardware -> keyboard shortcuts to set Run a Terminal to Ctrl + Alt + T or the like

open a terminal
navigate to Edit -> Profile Preferences -> Colors to deselect Use colors from system theme
select Built-in schemas: White on black

Now that the terminal color scheme is not killing you, we are going to start off by installing java: