RBE 2002 Maze Visualization

Team 4: Pau Alcolea, Ben Laster, Ben Proctor, Katy Stuparu

A-Maze-Me Repository: https://github.com/RBE-2002-D24/team-04-rbe-2002-a-maze-me

Library Repository: https://github.com/RBE-2002-D24/team-04-rbe-2002-lib

From left to right: Robot D (IR Emitter), Robot B (Button), Robot C (Ramp Climbing), Robot A (Ramp Balancing)

How to run code

1. Set up the Python environment and install the packages paho-mqtt for communication with the Romi, and pillow for displaying the maze. (Note: I am using Python 3.9.6 with a virtual environment.)

$ python -m venv venv
$ . venv/bin/activate
(venv) $ pip install -r requirements.txt

2. Set up Robot D for mapping. The robot traces along the left side of the maze and reports its position to MQTT at each line intersection. Once it has mapped the entire maze, it communicates that to MQTT. The robot uses two ultrasonic rangefinders (one in the front of the Romi and one on the left of the Romi) for wall detection, a reflectance sensor for line following, and the IMU for ramp detection. The code for Robot D mapping is located here: https://github.com/RBE-2002-D24/team-04-rbe-2002-a-maze-me/tree/robot-d/mapping/robotD.
3. Before starting Robot D, start the Python script. The coordinates are recorded from the topic team4/robot-d/(i, j). Once team4/robot-d/complete:1 is received, the script stops recording coordinates from MQTT. The maze traversal path is used to create a graph of the maze, which is used to find the locations of the walls and draw the maze, shown below.

(venv) $ python maze-visualization.py
Connected to robomqtt.cs.wpi.edu
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/(i, j):(0, 1)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(0, 3)'
Received 'team4/robot-d/(i, j):(0, 4)'
Received 'team4/robot-d/(i, j):(0, 5)'
Received 'team4/robot-d/(i, j):(1, 5)'
Received 'team4/robot-d/(i, j):(2, 5)'
Received 'team4/robot-d/(i, j):(1, 5)'
Received 'team4/robot-d/(i, j):(0, 5)'
Received 'team4/robot-d/(i, j):(0, 4)'
Received 'team4/robot-d/(i, j):(0, 3)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(1, 2)'
Received 'team4/robot-d/(i, j):(1, 3)'
Received 'team4/robot-d/(i, j):(1, 4)'
Received 'team4/robot-d/(i, j):(1, 3)'
Received 'team4/robot-d/(i, j):(1, 2)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(0, 1)'
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/(i, j):(1, 0)'
Received 'team4/robot-d/(i, j):(2, 0)'
Received 'team4/robot-d/(i, j):(2, 1)'
Received 'team4/robot-d/(i, j):(2, 2)'
Received 'team4/robot-d/(i, j):(2, 3)'
Received 'team4/robot-d/(i, j):(2, 4)'
Received 'team4/robot-d/(i, j):(2, 3)'
Received 'team4/robot-d/(i, j):(2, 2)'
Received 'team4/robot-d/(i, j):(2, 1)'
Received 'team4/robot-d/(i, j):(2, 0)'
Received 'team4/robot-d/(i, j):(1, 0)'
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/complete:1'
Finished receiving coordinates

4. Another example:

(venv) $ python maze-visualization.py
Connected to robomqtt.cs.wpi.edu
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/(i, j):(0, 1)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(0, 3)'
Received 'team4/robot-d/(i, j):(0, 4)'
Received 'team4/robot-d/(i, j):(0, 5)'
Received 'team4/robot-d/(i, j):(1, 5)'
Received 'team4/robot-d/(i, j):(2, 5)'
Received 'team4/robot-d/(i, j):(2, 4)'
Received 'team4/robot-d/(i, j):(2, 5)'
Received 'team4/robot-d/(i, j):(1, 5)'
Received 'team4/robot-d/(i, j):(0, 5)'
Received 'team4/robot-d/(i, j):(0, 4)'
Received 'team4/robot-d/(i, j):(0, 3)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(1, 2)'
Received 'team4/robot-d/(i, j):(1, 3)'
Received 'team4/robot-d/(i, j):(1, 4)'
Received 'team4/robot-d/(i, j):(1, 3)'
Received 'team4/robot-d/(i, j):(1, 2)'
Received 'team4/robot-d/(i, j):(1, 1)'
Received 'team4/robot-d/(i, j):(1, 2)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(0, 1)'
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/(i, j):(1, 0)'
Received 'team4/robot-d/(i, j):(2, 0)'
Received 'team4/robot-d/(i, j):(2, 1)'
Received 'team4/robot-d/(i, j):(2, 2)'
Received 'team4/robot-d/(i, j):(2, 3)'
Received 'team4/robot-d/(i, j):(2, 2)'
Received 'team4/robot-d/(i, j):(2, 1)'
Received 'team4/robot-d/(i, j):(2, 0)'
Received 'team4/robot-d/(i, j):(1, 0)'
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/complete:1'
Finished receiving coordinates

5. Another example:

(venv) $ python maze-visualization.py
Connected to robomqtt.cs.wpi.edu
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/(i, j):(0, 1)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(0, 3)'
Received 'team4/robot-d/(i, j):(0, 4)'
Received 'team4/robot-d/(i, j):(0, 5)'
Received 'team4/robot-d/(i, j):(0, 4)'
Received 'team4/robot-d/(i, j):(0, 3)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(1, 2)'
Received 'team4/robot-d/(i, j):(1, 3)'
Received 'team4/robot-d/(i, j):(1, 4)'
Received 'team4/robot-d/(i, j):(1, 5)'
Received 'team4/robot-d/(i, j):(2, 5)'
Received 'team4/robot-d/(i, j):(2, 4)'
Received 'team4/robot-d/(i, j):(2, 5)'
Received 'team4/robot-d/(i, j):(1, 5)'
Received 'team4/robot-d/(i, j):(1, 4)'
Received 'team4/robot-d/(i, j):(1, 3)'
Received 'team4/robot-d/(i, j):(1, 2)'
Received 'team4/robot-d/(i, j):(0, 2)'
Received 'team4/robot-d/(i, j):(0, 1)'
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/(i, j):(1, 0)'
Received 'team4/robot-d/(i, j):(2, 0)'
Received 'team4/robot-d/(i, j):(1, 0)'
Received 'team4/robot-d/(i, j):(0, 0)'
Received 'team4/robot-d/complete:1'
Finished receiving coordinates