---
title: 9/13/21 meeting notes
tags: meeting-notes
---
# September 13, 2021

## Software:
### Voice Recognition
-looking at nlp languages for python to identitfy voice commands.
-format for commands: starting space + "to" + target space
-starting space for duplicate pieces, target space would check with algorithm before moving

#### Voice Recognition Libraries
- https://pypi.org/project/SpeechRecognition/
-https://pypi.org/project/PyAudio/

### AprilTag
- AprilTags are like QR codes and not very accurate from a distance
- https://april.eecs.umich.edu/software/apriltag.html
- libraries for AprilTag: https://github.com/AprilRobotics/apriltag_ros
- Getting the datafrom the camera and transmitting it to the ROS
- In github source file : apriltag_ros_single_image_client_node.cpp

### Computer Vision
Use OpenCV library on live feed
GOALS:
- Identify grid, and robots on each panel
- Collision detection
- When robots move, course correct
- Fix positions so all robots are centered on panel

Live feed input from above the board
Figure out outline/shape of robots
Outline detection of shapes
Figure out location of the robots on the board
Adjust position of robots

### miscellaneous

make 2D array with computer vision so we know exactly what piece is where and we say E6 to E4, so we only have to worry about the starting and ending positions