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OpenMV

We used OpenMV camera to detect the two type of evacuation zones , green and red , when our robot detects the Evacuation Zone , it goes backward a little so it can raise its arm so its OpenMV can see a good amount of the evacuation zones color. 

For recognizing colors we made four color ranges and named them "LAB", two for green and two for red. one of them is for shadow light environment , and the other is for normal light environment, so it can detect the color correctly in any conditions. When our robot detects the Evacuation Zone it try's all of the four color ranges to understand witch Evacuation Zone it is. also we set them in a way that in any light environment they work.

As we said in the OpenMV Electronic Blog our connector witch we used to connect OpenMV to our Sensor Board has three digital pins , so it will have eight different modes (2³) but we only used three of them , Red , Green , and nothing.

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