This repository contains the source code for a visual object tracking project, designed to detect and track a specific object using a combination of computer vision and a physical 6 DOF robotic system.

The project is split into two main components:

1. Vision System (Python): Handles object detection, tracking logic, and communication with the microcontroller.
2. Robotic Control (c): Manages the motor contrl based on commands received from the vision system.

• The main Python script that uses OpenCV for video capture and image processing. It implements a PID controller to determine the motor speed and direction required to keep the target object centered. It communicates with the microcontroller over a serial port.
• The C code for a microcontroller (e.g., a PSoC or Arduino-based system). This code receives serial commands and translates them into PWM signals to drive a motor. It also provides feedback on an LCD display.
• An alternative or supplementary Python script that demonstrates object detection using a pre-trained deep learning model (MobileNet-SSD). This could be used for more advanced object tracking.

1. Python 3.x
2. OpenCV(cv2)
3. NumPy (cumpy)
4. PySerial (pyserial)
5. A microcontroller with C compiler
6. A motor driver and a motor
7. A LCD Display (Optional)

1. The Python script captures video frames from the webcam.
2. It converts the frame to the HSV color space, which is better for color-based detection.
3. A color mask is applied to isolate the red object.
4. The script calculates the center of the detected object's contour.
5. A PID controller algorithm uses the object's position relative to the center of the frame to calculate a control signal.
6. This control signal is translated into a motor speed and direction.
7. The speed and direction are sent as two bytes over the serial port to the microcontroller.
8. The C code on the microcontroller receives these two bytes.
9. Based on the received values, the C code adjusts the PWM duty cycle for the motor driver to turn the motor at the specified speed and direction.
10. This creates a feedback loop, continuously adjusting the motor to keep the red object centered in the camera's view.

This project is license under the MIT License - see the LICENSE file for details.