findee

Name	findee JSON
Version	0.1.6 JSON
	download
home_page	None
Summary	An autonomous vehicle platform by Pathfinder
upload_time	2025-07-22 21:08:04
maintainer	None
docs_url	None
author	None
requires_python	>=3.7
license	MIT License Copyright (c) 2025 Comrid Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
keywords	pathfinder finder findee raspberry-pi robotics autonomous-vehicle gpio
VCS
bugtrack_url
requirements	No requirements were recorded.
Travis-CI	No Travis.
coveralls test coverage	No coveralls.

            # Findee 🚗

[![PyPI version](https://badge.fury.io/py/findee.svg)](https://badge.fury.io/py/findee)
[![Python](https://img.shields.io/pypi/pyversions/findee.svg)](https://pypi.org/project/findee/)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
[![Downloads](https://pepy.tech/badge/findee)](https://pepy.tech/project/findee)

**Findee**는 Pathfinder의 라즈베리파이 제로 2 W 기반의 자율주행 차량 플랫폼입니다. 모터 제어, 카메라, 초음파 센서를 통합하여 로보틱스 프로젝트를 쉽게 구현할 수 있도록 도와줍니다.

## ✨ 주요 기능

- 🚗 **모터 제어**: DC 모터를 이용한 전진, 후진, 회전 제어
- 📷 **카메라**: Picamera2를 이용한 실시간 영상 처리
- 📡 **초음파 센서**: 거리 측정 및 장애물 감지
- 🎯 **통합 플랫폼**: 하나의 클래스로 모든 하드웨어 제어

## 🔧 하드웨어 요구사항

### 사용 하드웨어
- **라즈베리파이 제로 2 W**
- **라즈베리파이 카메라 모듈 V2** 또는 호환 카메라
- **DC 모터 2개** (바퀴용)
- **L298N 모터 드라이버**
- **HC-SR04 초음파 센서**
- **점퍼 와이어** 및 **브레드보드**

## 📦 설치 방법

### 1. 기본 설치
```bash
pip install findee
```
### 1-1. 업데이트
```bash
pip install --upgrade findee
```

### 2. 필수 라이브러리 설치
```bash
pip install opencv-python RPi.GPIO picamera2
```

## 🚀 사용법

### 1. 기본 예제
```python
from findee import Findee

# Findee 객체 생성
robot = Findee()

try:
    # 2초간 전진
    robot.motor.move_forward(50)
    time.sleep(2)

    # 1초간 우회전
    robot.motor.turn_right(30)
    time.sleep(1)

    # 정지
    robot.motor.stop()

    # 거리 측정
    distance = robot.ultrasonic.get_distance()
    print(f"거리: {distance}cm")

    # 카메라 프레임 캡처
    frame = robot.camera.get_frame()
    print(f"프레임 크기: {frame.shape}")

finally:
    # 리소스 정리
    robot.motor.cleanup()
```

### 2. 자율주행 예제
```python
import time
from findee import Findee

def autonomous_drive():
    robot = Findee()

    try:
        while True:
            # 거리 측정
            distance = robot.ultrasonic.get_distance()

            if distance is None:
                print("센서 오류")
                continue

            if distance > 20:  # 20cm 이상이면 전진
                robot.motor.move_forward(40)
            elif distance > 10:  # 10-20cm면 천천히
                robot.motor.move_forward(20)
            else:  # 10cm 이하면 회전
                robot.motor.turn_right(30)
                time.sleep(0.5)
                robot.motor.stop()

            time.sleep(0.1)

    except KeyboardInterrupt:
        print("프로그램 종료")
    finally:
        robot.motor.cleanup()

if __name__ == "__main__":
    autonomous_drive()
```

## 📖 API 문서

### 1. Findee 클래스
메인 클래스로 모든 하드웨어 구성요소에 접근할 수 있습니다.

```python
robot = Findee()
robot.motor      # Motor 클래스 인스턴스
robot.camera     # Camera 클래스 인스턴스
robot.ultrasonic # Ultrasonic 클래스 인스턴스
```

### 2. Motor 클래스
DC 모터 제어를 담당합니다.

#### 기본 제어
- `move_forward(speed)`: 전진 (speed: 20-100)
- `move_backward(speed)`: 후진 (speed: 20-100)
- `turn_left(speed)`: 제자리 좌회전 (speed: 20-100)
- `turn_right(speed)`: 제자리 우회전 (speed: 20-100)
- `stop()`: 정지
- `cleanup()`: GPIO 정리

#### 고급 제어
- `curve_left(speed, angle)`: 좌회전 커브 (angle: 0-60)
- `curve_right(speed, angle)`: 우회전 커브(angle: 0-60)
- `control_motors(right, left)`: 개별 모터 제어 (-100 ~ 100)

### 3. Camera 클래스
라즈베리파이 카메라 제어를 담당합니다.

- `get_frame()`: 현재 프레임 반환 (numpy array)
- `camera_test()`: 카메라 연결 테스트

### 4. Ultrasonic 클래스
HC-SR04 초음파 센서 제어를 담당합니다.

- `get_distance()`: 거리 측정 반환 (cm, None if error)
- 측정 범위: 2-400cm
- 정확도: ±1cm


### 이슈 리포트
버그나 기능 요청은 [GitHub Issues](https://github.com/Comrid/findee/issues)를 이용해주세요.

## 📄 라이선스

이 프로젝트는 MIT 라이선스를 따릅니다. 자세한 내용은 [LICENSE](LICENSE) 파일을 참조하세요.

## 👥 제작자

- **Pathfinder** - *초기 개발* - [Comrid](https://github.com/Comrid)

## 🙏 감사의 말

- 라즈베리파이 재단의 훌륭한 하드웨어
- 오픈소스 커뮤니티의 지원

---


**즐거운 로보틱스 프로젝트 되세요!** 🚀

            

Raw data

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    "description": "# Findee \ud83d\ude97\n\n[![PyPI version](https://badge.fury.io/py/findee.svg)](https://badge.fury.io/py/findee)\n[![Python](https://img.shields.io/pypi/pyversions/findee.svg)](https://pypi.org/project/findee/)\n[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n[![Downloads](https://pepy.tech/badge/findee)](https://pepy.tech/project/findee)\n\n**Findee**\ub294 Pathfinder\uc758 \ub77c\uc988\ubca0\ub9ac\ud30c\uc774 \uc81c\ub85c 2 W \uae30\ubc18\uc758 \uc790\uc728\uc8fc\ud589 \ucc28\ub7c9 \ud50c\ub7ab\ud3fc\uc785\ub2c8\ub2e4. \ubaa8\ud130 \uc81c\uc5b4, \uce74\uba54\ub77c, \ucd08\uc74c\ud30c \uc13c\uc11c\ub97c \ud1b5\ud569\ud558\uc5ec \ub85c\ubcf4\ud2f1\uc2a4 \ud504\ub85c\uc81d\ud2b8\ub97c \uc27d\uac8c \uad6c\ud604\ud560 \uc218 \uc788\ub3c4\ub85d \ub3c4\uc640\uc90d\ub2c8\ub2e4.\n\n## \u2728 \uc8fc\uc694 \uae30\ub2a5\n\n- \ud83d\ude97 **\ubaa8\ud130 \uc81c\uc5b4**: DC \ubaa8\ud130\ub97c \uc774\uc6a9\ud55c \uc804\uc9c4, \ud6c4\uc9c4, \ud68c\uc804 \uc81c\uc5b4\n- \ud83d\udcf7 **\uce74\uba54\ub77c**: Picamera2\ub97c \uc774\uc6a9\ud55c \uc2e4\uc2dc\uac04 \uc601\uc0c1 \ucc98\ub9ac\n- \ud83d\udce1 **\ucd08\uc74c\ud30c \uc13c\uc11c**: \uac70\ub9ac \uce21\uc815 \ubc0f \uc7a5\uc560\ubb3c \uac10\uc9c0\n- \ud83c\udfaf **\ud1b5\ud569 \ud50c\ub7ab\ud3fc**: \ud558\ub098\uc758 \ud074\ub798\uc2a4\ub85c \ubaa8\ub4e0 \ud558\ub4dc\uc6e8\uc5b4 \uc81c\uc5b4\n\n## \ud83d\udd27 \ud558\ub4dc\uc6e8\uc5b4 \uc694\uad6c\uc0ac\ud56d\n\n### \uc0ac\uc6a9 \ud558\ub4dc\uc6e8\uc5b4\n- **\ub77c\uc988\ubca0\ub9ac\ud30c\uc774 \uc81c\ub85c 2 W**\n- **\ub77c\uc988\ubca0\ub9ac\ud30c\uc774 \uce74\uba54\ub77c \ubaa8\ub4c8 V2** \ub610\ub294 \ud638\ud658 \uce74\uba54\ub77c\n- **DC \ubaa8\ud130 2\uac1c** (\ubc14\ud034\uc6a9)\n- **L298N \ubaa8\ud130 \ub4dc\ub77c\uc774\ubc84**\n- **HC-SR04 \ucd08\uc74c\ud30c \uc13c\uc11c**\n- **\uc810\ud37c \uc640\uc774\uc5b4** \ubc0f **\ube0c\ub808\ub4dc\ubcf4\ub4dc**\n\n## \ud83d\udce6 \uc124\uce58 \ubc29\ubc95\n\n### 1. \uae30\ubcf8 \uc124\uce58\n```bash\npip install findee\n```\n### 1-1. \uc5c5\ub370\uc774\ud2b8\n```bash\npip install --upgrade findee\n```\n\n### 2. \ud544\uc218 \ub77c\uc774\ube0c\ub7ec\ub9ac \uc124\uce58\n```bash\npip install opencv-python RPi.GPIO picamera2\n```\n\n## \ud83d\ude80 \uc0ac\uc6a9\ubc95\n\n### 1. \uae30\ubcf8 \uc608\uc81c\n```python\nfrom findee import Findee\n\n# Findee \uac1d\uccb4 \uc0dd\uc131\nrobot = Findee()\n\ntry:\n    # 2\ucd08\uac04 \uc804\uc9c4\n    robot.motor.move_forward(50)\n    time.sleep(2)\n\n    # 1\ucd08\uac04 \uc6b0\ud68c\uc804\n    robot.motor.turn_right(30)\n    time.sleep(1)\n\n    # \uc815\uc9c0\n    robot.motor.stop()\n\n    # \uac70\ub9ac \uce21\uc815\n    distance = robot.ultrasonic.get_distance()\n    print(f\"\uac70\ub9ac: {distance}cm\")\n\n    # \uce74\uba54\ub77c \ud504\ub808\uc784 \ucea1\ucc98\n    frame = robot.camera.get_frame()\n    print(f\"\ud504\ub808\uc784 \ud06c\uae30: {frame.shape}\")\n\nfinally:\n    # \ub9ac\uc18c\uc2a4 \uc815\ub9ac\n    robot.motor.cleanup()\n```\n\n### 2. \uc790\uc728\uc8fc\ud589 \uc608\uc81c\n```python\nimport time\nfrom findee import Findee\n\ndef autonomous_drive():\n    robot = Findee()\n\n    try:\n        while True:\n            # \uac70\ub9ac \uce21\uc815\n            distance = robot.ultrasonic.get_distance()\n\n            if distance is None:\n                print(\"\uc13c\uc11c \uc624\ub958\")\n                continue\n\n            if distance > 20:  # 20cm \uc774\uc0c1\uc774\uba74 \uc804\uc9c4\n                robot.motor.move_forward(40)\n            elif distance > 10:  # 10-20cm\uba74 \ucc9c\ucc9c\ud788\n                robot.motor.move_forward(20)\n            else:  # 10cm \uc774\ud558\uba74 \ud68c\uc804\n                robot.motor.turn_right(30)\n                time.sleep(0.5)\n                robot.motor.stop()\n\n            time.sleep(0.1)\n\n    except KeyboardInterrupt:\n        print(\"\ud504\ub85c\uadf8\ub7a8 \uc885\ub8cc\")\n    finally:\n        robot.motor.cleanup()\n\nif __name__ == \"__main__\":\n    autonomous_drive()\n```\n\n## \ud83d\udcd6 API \ubb38\uc11c\n\n### 1. 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Ultrasonic \ud074\ub798\uc2a4\nHC-SR04 \ucd08\uc74c\ud30c \uc13c\uc11c \uc81c\uc5b4\ub97c \ub2f4\ub2f9\ud569\ub2c8\ub2e4.\n\n- `get_distance()`: \uac70\ub9ac \uce21\uc815 \ubc18\ud658 (cm, None if error)\n- \uce21\uc815 \ubc94\uc704: 2-400cm\n- \uc815\ud655\ub3c4: \u00b11cm\n\n\n### \uc774\uc288 \ub9ac\ud3ec\ud2b8\n\ubc84\uadf8\ub098 \uae30\ub2a5 \uc694\uccad\uc740 [GitHub Issues](https://github.com/Comrid/findee/issues)\ub97c \uc774\uc6a9\ud574\uc8fc\uc138\uc694.\n\n## \ud83d\udcc4 \ub77c\uc774\uc120\uc2a4\n\n\uc774 \ud504\ub85c\uc81d\ud2b8\ub294 MIT \ub77c\uc774\uc120\uc2a4\ub97c \ub530\ub985\ub2c8\ub2e4. \uc790\uc138\ud55c \ub0b4\uc6a9\uc740 [LICENSE](LICENSE) \ud30c\uc77c\uc744 \ucc38\uc870\ud558\uc138\uc694.\n\n## \ud83d\udc65 \uc81c\uc791\uc790\n\n- **Pathfinder** - *\ucd08\uae30 \uac1c\ubc1c* - [Comrid](https://github.com/Comrid)\n\n## \ud83d\ude4f \uac10\uc0ac\uc758 \ub9d0\n\n- \ub77c\uc988\ubca0\ub9ac\ud30c\uc774 \uc7ac\ub2e8\uc758 \ud6cc\ub96d\ud55c \ud558\ub4dc\uc6e8\uc5b4\n- \uc624\ud508\uc18c\uc2a4 \ucee4\ubba4\ub2c8\ud2f0\uc758 \uc9c0\uc6d0\n\n---\n\n\n**\uc990\uac70\uc6b4 \ub85c\ubcf4\ud2f1\uc2a4 \ud504\ub85c\uc81d\ud2b8 \ub418\uc138\uc694!** \ud83d\ude80\n",
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