* moved object detection into own folder

 * added installation instructions to README.md
 * make BounceBot class to provide an interface to control the Picar and the turret

README.md

@@ -1,3 +1,8 @@
 # RoboticsObjectDetection
 
 Simple OpenCV Baseline: https://www.youtube.com/watch?v=HXDD7-EnGBY&ab_channel=Murtaza%27sWorkshop-RoboticsandAI
+
+# Robot Control
+The packages used to control the robot can be found on the documentation page:
+
+https://docs.sunfounder.com/projects/picar-x/en/latest/python/python_start/download_and_run_code.html

RobotControl/bouncebot_control.py

@@ -0,0 +1,98 @@
+from robot_hat import Pin, PWM, Servo
+from picarx import Picarx
+import time
+
+
+class BounceBot(Picarx):
+    """
+    Controller for the BounceBot.
+    """
+    def __init__(self):
+        super().__init__()
+        # initialize servo control
+        self.turret_servo = Servo(PWM('P3'))
+        self.turret_servo.angle(0)
+
+        # initialize solenoid control
+        self.turret_solenoid_1 = Pin("D0")
+        self.turret_solenoid_2 = Pin("D1")
+
+    def activate_solenoid(self, t):
+        """
+        Activate the solenoid for a certain amount of time t.
+        :param t: time in seconds
+        :return:
+        """
+        self.turret_solenoid_1.value(1)
+        self.turret_solenoid_2.value(1)
+        time.sleep(t)
+        self.turret_solenoid_1.value(0)
+        self.turret_solenoid_2.value(0)
+
+    def right_turn(self):
+        pass
+
+    def left_turn(self):
+        pass
+
+    def u_turn(self):
+        pass
+
+
+def test_controls():
+    """
+    Test the controls.
+    :return:
+    """
+    bb = BounceBot()
+
+    try:    # use try/finally to ensure the motors and solenoid are turned off
+        # drive and steer
+        bb.forward(30)
+        time.sleep(0.5)
+        for angle in range(0, 35):
+            bb.set_dir_servo_angle(angle)
+            time.sleep(0.01)
+        for angle in range(35, -35, -1):
+            bb.set_dir_servo_angle(angle)
+            time.sleep(0.01)
+        for angle in range(-35, 0):
+            bb.set_dir_servo_angle(angle)
+            time.sleep(0.01)
+        bb.forward(0)
+        time.sleep(1)
+
+        # look with camera
+        for angle in range(0, 35):
+            bb.set_camera_servo1_angle(angle)
+            time.sleep(0.01)
+        for angle in range(35, -35, -1):
+            bb.set_camera_servo1_angle(angle)
+            time.sleep(0.01)
+        for angle in range(-35, 0):
+            bb.set_camera_servo1_angle(angle)
+            time.sleep(0.01)
+        for angle in range(0, 35):
+            bb.set_camera_servo2_angle(angle)
+            time.sleep(0.01)
+        for angle in range(35, -35, -1):
+            bb.set_camera_servo2_angle(angle)
+            time.sleep(0.01)
+        for angle in range(-35, 0):
+            bb.set_camera_servo2_angle(angle)
+            time.sleep(0.01)
+
+        # test turret
+        for a in (0, 70, 0, -70):
+            bb.turret_servo.angle(a)
+            time.sleep(0.5)
+            bb.activate_solenoid(0.2)
+            time.sleep(0.5)
+
+    finally:
+        bb.activate_solenoid(0.1)
+        bb.forward(0)
+
+
+if __name__ == "__main__":
+    test_controls()

RobotControl/turret_test.py

@@ -0,0 +1,18 @@
+from robot_hat import Pin, PWM, Servo
+from picarx import Picarx
+import time
+
+px = Picarx()
+servo_pin = PWM('P3')
+sol_pin_a = Pin("D0")
+sol_pin_b = Pin("D1")  # one pin does not supply enough current, always use both
+
+for a in (0, 70, 0, -70):
+    Servo(servo_pin).angle(a)
+    time.sleep(0.3)
+    sol_pin_a.value(1)
+    sol_pin_b.value(1)
+    time.sleep(0.2)
+    sol_pin_a.value(0)
+    sol_pin_b.value(0)
+    time.sleep(0.5)