Robotics Portfolio

# Smart Robotic Toilet Cleaner
import cv2
import numpy as np
from gpiozero import Servo, Motor
import time

class RoboticToiletCleaner:
    def __init__(self):
        # Hardware setup
        self.cleaning_arm = Servo(17)
        self.brush_motor = Motor(forward=22, backward=23)
        self.water_pump = Motor(forward=24, backward=25)
        
        # Computer vision
        self.camera = cv2.VideoCapture(0)
        
        # Cleaning patterns
        self.patterns = {
            'light': [(0, 0), (45, 0), (45, 45), (0, 45)],
            'heavy': [(0, 0), (30, 0), (30, 30), (0, 30), (15, 15)]
        }
    
    def detect_stains(self):
        """Use CV to detect and classify stains"""
        ret, frame = self.camera.read()
        if not ret:
            return []
        
        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        
        # Detect brown/yellow stains
        lower = np.array([10, 100, 20])
        upper = np.array([20, 255, 200])
        mask = cv2.inRange(hsv, lower, upper)
        
        contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL,
                                       cv2.CHAIN_APPROX_SIMPLE)
        
        stains = []
        for contour in contours:
            area = cv2.contourArea(contour)
            if area > 100:
                M = cv2.moments(contour)
                if M["m00"] != 0:
                    cx = int(M["m10"] / M["m00"])
                    cy = int(M["m01"] / M["m00"])
                    intensity = 'heavy' if area > 500 else 'light'
                    stains.append({'pos': (cx, cy), 'type': intensity})
        
        return stains
    
    def clean_area(self, pattern='light'):
        """Execute cleaning pattern"""
        self.brush_motor.forward(speed=0.8)
        self.water_pump.forward(speed=0.6)
        
        for angle_x, angle_y in self.patterns[pattern]:
            self.cleaning_arm.value = (angle_x + 90) / 180
            time.sleep(0.5)
            # Scrub motion
            for _ in range(3):
                self.brush_motor.forward(speed=1.0)
                time.sleep(0.3)
        
        self.brush_motor.stop()
        self.water_pump.stop()
    
    def clean_cycle(self):
        """Main cleaning cycle"""
        stains = self.detect_stains()
        
        if stains:
            for stain in stains:
                self.clean_area(stain['type'])
        else:
            self.clean_area('light')
        
        # Final rinse
        self.water_pump.forward(speed=0.8)
        time.sleep(3)
        self.water_pump.stop()