Computer Vision PID Control CVPID is a computer vision controlled two dimensional PID system that balances a ball on top of a table, written in C++ using the OpenCV library. Real time FIFO scheduling and multiple threads were used to increase throughput of data processing. This project was created in partial fulfillment of the requirements of ECED4402 - Real Time Systems at Dalhousie University. https://www.youtube.com/watch?v=JQjQdtcZW6I

. Do not try to run the servo motors off the RPi's 5V power.

We installed OpenCV to ~/.local/

sudo apt-get install cmake
git clone https://github.com/opencv/opencv.git
cd opencv
mkdir build && cd build 
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=~/.local ..
# This next step takes a long time. 
make -j7
cd
git clone https://github.com/joshuaboud/CVPID.git
cd CVPID
make
# Now run the program
sudo ./cvpid