How anonymousm3/rasp4wheel works
This is a Raspberry Pi four-wheel robot controller, not a general-purpose web product. The principal workflow is a remote operator issuing motion or mode commands; server-side control translates those commands into motor, steering, accessory, and sensor actions, while camera processing can provide video and vision-based behavior. The tree also includes a browser-serving interface, autonomous/vision modules, and several hardware-control layers. Evidence is limited to the README, source index, and sampled excerpts; links for unsampled subsystems are omitted rather than inferred.
Main entry points: server.py TCP Control · camera_opencv.py Camera Stream · FPV.py FPV and CV · move.py Motor Control
Components 24
Operator Interfaces
- Desktop GUI
client/GUI.py - TCP Control
server/server.py - WebSocket Control
server/webServer.py - Video Web App
server/app.py
Robot Control
- Autonomy Functions
server/functions.py - PID Control
server/PID.py - Speech Control
server/speech.py - Robot Info
server/info.py
Vision and Sensing
- Camera Stream
server/camera_opencv.py - Camera Base
server/base_camera.py - FPV and CV
server/FPV.py - CV Drive
server/GUImove.py - Line Following
server/findline.py - Distance Sensing
server/ultra.py - Kalman Filter
server/Kalman_filter.py
Hardware Drivers
- Motor Control
server/move.py - Steering Servos
server/servo.py - PWM Servo Driver
server/RPIservo.py - Switch Outputs
server/switch.py - LED Effects
server/LED.py - Robot Lights
server/robotLight.py - RGB Indicators
server/RGB.py - OLED Display
server/OLED.py
Other components
- Operator
Connections 19
- Operator → Desktop GUI: uses
- Operator → TCP Control: commands
- Operator → WebSocket Control: commands
- TCP Control → Steering Servos: initializes
server/server.py - TCP Control → WebSocket Control: starts control
server/server.py - TCP Control → Robot Info: starts thread
server/server.py - TCP Control → FPV and CV: toggles CV
server/server.py - TCP Control → Motor Control: stops motors
server/server.py - TCP Control → Switch Outputs: sets switches
server/server.py - TCP Control → LED Effects: selects effects
server/server.py - Video Web App → Camera Stream: creates camera
server/app.py - Camera Stream → Camera Base: inherits from
server/camera_opencv.py - Camera Stream → PWM Servo Driver: initializes servos
server/camera_opencv.py - Camera Stream → Motor Control: initializes motors
server/camera_opencv.py - Camera Stream → Switch Outputs: initializes switches
server/camera_opencv.py - FPV and CV → PID Control: calculates correction
server/FPV.py - FPV and CV → Steering Servos: moves steering
server/FPV.py - FPV and CV → Motor Control: drives robot
server/FPV.py - FPV and CV → LED Effects: sets indicators
server/FPV.py