Vision Controlled 2-Axis Ball Plate System Using OpenCV

This is a console application programmed in C++ by using OpenCV image processing library. In the image processing, color thresholding from hue values of the image is used and ball position is found with an algorithm by checking the pixels in every image sample. Later a special fast PID controlling algorithm is used to control the position of the ball only. Our feed back is only coming from camera, there is no other sensor or encoder to measure the angle of the motors or the platform. RC hobby servos are used to actuate the system. Because the motors specifications are different I programmed the system in such a way that lets me to give differen PID gain values for each motor control individually. Also we can monitor the ball position in realtime for each axis according to center of the platform and the referance points.