First, some pending matters from previous weeks:
For our prototype, we first got some cardboard boxes to use as a library shelves, and some books.
The cardboard boxes and some of the books used in our library prototype.
For the color tags that mark the intersections, we went to a printing shop and printed 6 colored squares. We used a glossy paper to get better results with the color sensor.
Before placing the black lines in the floor we adjusted the distances of the cameras to the shelves in such a way that both the RaspiCam and the USB webcam could capture the book borders. The distance found was about 30cm from the shelves. We then determined the positions of the lines around the library prototype. After the measurements, we placed the colored squares and the lines at the floor.
More books were then placed. The boxes were raised up from the floor so the cameras could better capture the books, and kraft paper was used to cover up the boxes for a better look.
The next step made was testing the routines of movement and rotation within the environment. We send data through serial interface and the firmware could know the right command to execute.