Raven

┌─────────────────────────────────────────────────────────────────────┐
│                          Computer                                    │
│  ┌─────────────────┐    ┌──────────────────┐    ┌────────────────┐  │
│  │ ComputerReceiver│◄───│  RobotHandler    │◄───│ Vision (YOLO)  │  │
│  │ (video in,      │    │  State Machine   │    │ Segmentation   │  │
│  │  commands out)  │    │  + Theta* Path   │    │ + Pixel-to-3D  │  │
│  └────────┬────────┘    └──────────────────┘    └────────────────┘  │
│           │                                                          │
│           │ TCP (video: 5000, commands: 5001)                        │
│           ▼                                                          │
│  ┌─────────────────┐                                                 │
│  │RemoteRobotCmd   │ ◄── IRobotCommander interface                   │
│  └─────────────────┘                                                 │
└─────────────────────────────────────────────────────────────────────┘
                              │
                              │ Network
                              ▼
┌─────────────────────────────────────────────────────────────────────┐
│                        Raspberry Pi                                  │
│  ┌─────────────────┐    ┌──────────────────┐    ┌────────────────┐  │
│  │  PiStreamer     │───►│ DirectRobotCmd   │───►│ Nav + Raven    │  │
│  │  (video out,    │    │ (local execution)│    │ Motor Control  │  │
│  │   commands in)  │    └──────────────────┘    └────────────────┘  │
│  └─────────────────┘                                                 │

# Install dependencies
pip install -e .

# Run computer receiver (waits for Pi connection)
python main_comp.py

# Install dependencies
pip install -e .

# Run Pi streamer (auto-reconnects to computer)
python main_pi.py --camera-top /dev/videoblacktop --camera-bottom /dev/videoblackbot

MDS/
├── main_comp.py              # Computer entry point (receiver + vision + state machine)
├── main_pi.py                # Pi entry point (streamer + command execution)
│
├── IRobotCommander.py        # Abstract interface for robot commands
├── RemoteRobotCommander.py   # Network implementation (computer side)
├── DirectRobotCommander.py   # Direct execution (Pi side)
│
├── RobotHandler.py           # Full state machine with zone/can tracking
├── RobotHandler_Simple.py    # Simplified state machine for basic collection
│
├── thetaStar.py              # Theta* path planning with obstacle avoidance
├── nav.py                    # Navigation controller (IMU + odometry)
├── navHelpers.py             # Movement command generators
│
├── raven.py                  # Raven motor controller driver
├── RavenWrapper.py           # High-level Raven interface (gripper, elevator)
├── IMUWrapper.py             # BNO08x IMU wrapper
├── distanceSensorWrapper.py  # Distance sensor for can approach
│
├── config.py                 # Robot configuration constants
├── colors.py                 # YOLO class names and color constants
├── getPickedCanColor.py      # Detect color of can in gripper
│

from vision.segment import segmentImage
from vision.can_utils import getCans
from vision.zone_utils import getZones

result = segmentImage(image)  # Run YOLO segmentation
cans, can_classes = getCans(result, image, is_top=True)  # Get can positions (mm)
zones, zone_classes = getZones(result, image, is_top=True)  # Get zone quads (mm)

from vision.pixelTo3D import transform_uv_to_xy

# pixel (u, v) -> world (x, y) in mm
x, y = transform_uv_to_xy(pixel_x, pixel_y, is_top=True)

from spatialmath import SE2
from vision.relativeCoordinates import world_to_relative, relative_to_world

robot_pose = SE2(robot_x, robot_y, robot_heading)
local_x, local_y = world_to_relative(world_point, robot_pose)
world_x, world_y = relative_to_world(local_point, robot_pose)

from getPickedCanColor import getPickedUpCanColor

color = getPickedUpCanColor(result, image)  # Returns 'Green Can', 'Red Can', etc.

SearchForCan -> MoveToCan -> ApproachingCan -> GrabCan -> MoveToZone -> Done

OVERRIDE_MOVEMENTS = 2      # [left, right, ticks, ...]
OVERRIDE_WAYPOINTS = 3      # [x1, y1, x2, y2, ...]
PICKUP_CAN = 4              # No args
RELEASE_CAN = 5             # No args
APPROACH_CAN_DS = 9         # No args
OPEN_GRIPPER = 15           # No args
LOWER_ELEVATOR = 16         # No args
# ... and more

FRAME_WIDTH = 640
FRAME_HEIGHT = 480
FPS = 30

CAN_DIAMETER = 76.2         # mm
ROBOT_DIAMETER = 300        # mm
CLAW_OFFSET = 150           # mm from robot center
APPROACH_OFFSET = 200       # mm approach distance

# Test segmentation on image
python vision/segment.py

# Test can detection
python getPickedCanColor.py

cd vision/train
python train.py