A 2D simulation in which cars learn to maneuver through a course by themselves, using a neural network and evolutionary algorithms. Last active Jan 23, 2020. Here is the code to detect line segments. I then found out that it is caused by the steering angles, computed from one video frame to the next frame, are not very stable. You shouldn’t have to run commands on Pages 20–26 of the manual. Background. 4.3. For the full code go to Github. Created Jun 28, 2011. Along with segmentation_models library, which provides dozens of pretrained heads to Unet and other unet-like architectures. (Read here for an in-depth explanation of Hough Line Transform.). I'm currently in my senior year doing my undergraduate in B. angle is angular precision in radian. Welcome to Deep Mux. Luckily, OpenCV contains a magical function, called Hough Transform, which does exactly this. This is by specifying a range of the color Blue. workflow. Prior to that, I worked in the MIT Human-Centered Artificial Intelligence group under Lex Fridman on applications of deep learning to understand human behaviour in semi-autonomous driving scenarios. Our idea is related to DIP (Deep Image Prior [37]), which observes that the structure of a generator network is sufficient to capture the low-level statistics of a natural image. Next, the correct time must be sync'ed from one of the NTP servers. The deep learning part will come in Part 5 and Part 6. Download for macOS Download for Windows (64bit) Download for macOS or Windows (msi) Download for Windows. Connect to Pi’s IP address using Real VNC Viewer. In fact, we did not use any deep learning techniques in this project. It can be used for image recognition, face detection, natural language processing, and many other applications. Star 15 Fork 1 Code Revisions 3 Stars 15 Forks 1. We will use this PC to remote access and deploy code to the Pi computer. Also Power your Pi with a 2A adapter and connect it to a display monitor for easier debugging.This tutorial will not explain how exactly OpenCV works, if you are interested in learning Image processing then check out this OpenCV basics and advanced Image pr… The complete code to perform LKAS (Lane Following) is in my DeepPiCar GitHub repo. Whether you're new to Git or a seasoned user, GitHub Desktop simplifies your development workflow. Basically, we need to compute the steering angle of the car, given the detected lane lines. Now that we have many small line segments with their endpoint coordinates (x1, y1) and (x2, y2), how do we combine them into just the two lines that we really care about, namely the left and right lane lines? For example, if we had dashed lane markers, by specifying a reasonable max line gap, Hough Transform will consider the entire dashed lane line as one straight line, which is desirable. Deep Reinforcement Learning Course is a free course (articles and videos) about Deep Reinforcement Learning, where we'll learn the main algorithms, and how to implement them in Tensorflow and PyTorch. The entire source code of this project is open-source and can be found on my Github repository. This is an extremely useful feature when you are driving on a highway, both in bumper-to-bumper traffic and on long drives. But observe that when we see only one lane line, say only the left (right) lane, this means that we need to steer hard towards the right(left), so we can continue to follow the lane. Week 2 2.1. Putting the above commands together, below is the function that isolates blue colors on the image and extracts edges of all the blue areas. Take a look, # mount the Pi home directory to R: drive on PC. The real world poses challenges like having limited data and having tiny hardware like Mobile Phones and Raspberry Pis which can’t run complex Deep Learning models. If you run into errors or don’t see the wheels moving, then either something is wrong with your hardware connection or software set up. Lecture slides and videos will be re-used from the summer semester and will be fully available from the beginning. In the next article, this is exactly what we will build, a deep learning, autonomous car that can learn by observing how a good driver drive. A closer look reveals that they are all at the top half of the screen. Note that PiCar is created for common men, so it uses degrees and not radians. I'm Arnav Deep, a software engineer and a data scientist focused on building solutions for billions. Just run the following commands to start your car. Above is a typical video frame from our DeepPiCar’s DashCam. You will see the same desktop as the one Pi is running. However, to a computer, they are just a bunch of white pixels on a black background. Welcome back! Official website. In this post, I will try to summarize the findings and research done by Prof. Naftali Tishby which he shares in his talk on Information Theory of Deep Learning at Stanford University recently. At this point, you should be able to connect to the Pi computer from your PC via Pi’s IP address (My Pi’s IP is 192.168.1.120). Project on Github This project is completely open-source, if you want to contribute or work on the code visit the github page . Polar Coordinates (elevation angle and distance from the origin) is superior to Cartesian Coordinates (slope and intercept), as it can represent any lines, including vertical lines which Cartesian Coordinates cannot because the slope of a vertical line is infinity. Note this technique is exactly what movie studios and weatherperson use every day. Indeed, when doing lane navigation, we only care about detecting lane lines that are closer to the car, where the bottom of the screen. Deep learning algorithms are very useful for computer vision in applications such as image classification, object detection, or instance segmentation. The second (Saturation) and third parameters (Value) are not so important, I have found that the 40–255 ranges work reasonably well for both Saturation and Value. This post demonstrates how you can do object detection using a Raspberry Pi. (Of course, I am assuming you have taped down the lane lines and put the PiCar in the lane.). Data Science | AI | Deep Learning. Setting up remote access allows Pi computer to run headless (i.e. A set of command line tools (in Java) for manipulating high-throughput sequencing (HTS) data and formats such as SAM/BAM/CRAM and VCF. Your Node-RED should identify your car plate and car model. Other than the logic described above, there are a couple of special cases worth discussion. Then, it will trigger an event: it turns GPIO 17 on for a few seconds and then it turns off. Stay tuned for more information and a source code release! For the time being, run the following commands (in bold) instead of the software commands in the SunFounder manual. When my family drove from Chicago to Colorado on a ski trip during Christmas, we drove a total of 35 hours. Lua Non-recursive Deep-copy. You should run your car in the lane without stabilization logic to see what I mean. It is best to illustrate with the following image. They usually use a green screen as a backdrop, so that they can swap the green color with a thrilling video of a T-Rex charging towards us (for a movie), or the live doppler radar map (for the weatherperson). To do this, we first need to turn the color space used by the image, which is RGB (Red/Green/Blue) into the HSV (Hue/Saturation/Value) color space. Recently AWS announced DeepRacer, a fully autonomous 1/18th scale race car … Then when we merge themask with the edgesimage to get the cropped_edges image on the right. Challenger Deep Colorthemes. Flow is a traffic control benchmarking framework. The red line shown below is the heading. In the first phase, students will learn the basics of deep learning and Computer Vision, e.g. In DeepPiCar/driver/code folder, these are the files of interest: Just run the following commands to start your car. This becomes particularly relevant for techniques that require the specification of problem-dependent parameters, or contain computationally expensive sub-algorithms. Xresources Alacritty tmux. Important: This package is exprimental. Take a look. We first create a mask for the bottom half of the screen. GitHub Gist: instantly share code, notes, and snippets. Today, we will build LKAS into our DeepPiCar. Note this article will just make our PiCar a “self-driving car”, but NOT yet a deep learning, self-driving car. Now that we know where we are headed, we need to convert that into the steering angle, so that we tell the car to turn. One way is to classify these line segments by their slopes. the first one is your Working Directory which holds the actual files. Sign in Sign up Instantly share code, notes, and snippets. After the initial installation, Pi may need to upgrade to the latest software. Deep Learning on Raspberry Pi. Vertical line segments: vertical line segments are detected occasionally as the car is turning. Our Volvo XC 90, which has both ACC and LKAS (Volvo calls it PilotAssit) did an excellent job on the highway, as 95% of the long and boring highway miles were driven by our Volvo! Previous work has used an environment map representation that does not account for the localized nature of indoor lighting. If you have read through DeepPiCar Part 4, you should have a self-driving car that can navigate itself pretty smoothly within a lane. I'm a Master of Computer Science student at UCLA, advised by Prof. Song-Chun Zhu, with a focus in Computer Vision and Pattern Recognition.. We present a method to estimate lighting from a single image of an indoor scene. PI: Viktor Prasanna. In the code below, the first parameter is the blue mask from the previous step. This is the promise of deep learning and big data, isn't it? The model is able to run in real-time with ~10 million synapses at 60 frames per second on the Pi. In this guide, we will first go over what hardware to purchase and why we need them. There have been many previous versions of the same talk so don’t be surprised if you have already seen one of his talks on the same topic. This module instructs students on the basics of deep learning as well as building better and faster deep network classifiers for sensor data. Link to dataset. The Terminal app is a very important program, as most of our command in later articles will be entered from Terminal. Remember that for this PiCar, the steering angle of 90 degrees is heading straight, 45–89 degrees is turning left, and 91–135 degrees is turning right. deep_pi_car.py: This is the main entry point of the DeepPiCar; hand_coded_lane_follower.py: This is the lane detection and following logic. (Of course, I am assuming you have taped down the lane lines and put the PiCar in the lane.) Of course, they need to be re-tuned for a life-sized car with a high-resolution camera running on a real road with white/yellow dashed lane lines. Note that your VNC remote session should still be alive. Detailed instructions of how to set up the environment for training with RL can be found in my github page here. If you have a Mac, here is how to connect to the Pi’s file server. Now that all the basic hardware and software for the PiCar is in place, let’s try to run it! At this point, you can safely disconnect the monitor/keyboard/mouse from the Pi computer, leaving just the power adapter plugged in. Personal blog and resume. In the above code, I used two flavors of max_angle_deviation, 5 degrees if both lane lines are detected, which means we are more confident that our heading is correct; 1 degree if only one lane line is detected, which means we are less confident. The device will first wake at 8:00 am. It's easier to understand a deep learning model with a graph. (I will submit my changes to SunFounder soon, so it can be merged back to the main repo, once approved by SunFounder.). It's easier to understand a deep learning model with a graph. your local repository consists of three "trees" maintained by git. In a Pi Terminal, run the following commands (, see the car going faster, and then slow down when you issue, see the front wheels steer left, center and right when you issue. We will install Samba File Server on Pi. For more in-depth network connectivity instructions on Mac, check out this excellent article. Whenever you are ready, head on over to Part 3, where we will give PiCar the superpower of computer vision and deep learning. All Car Brands in the world in JSON. Adeept RaspTank Pro Robot Car Kit, WiFi Wireless Smart Robot for Raspberry Pi 4 3/3B+, 3-DOF Robotic Arm, OpenCV Target Tracking, Video Transmission $159.99 Original … hardware includes a RC car, a camera, a Raspberry Pi, two chargeable batteries and other driving recording/controlling related sensors. USB Keyboard/Mouse and Monitor that takes HDMI input. After reboot, all required hardware drivers should be installed. I am Deep Raval. DeepMux is a platform to deploy machine learning models into production. Hello World ! smb://192.168.1.120/homepi, and click Connect. Raspberry Pi 3; PiCAN2; Heatsinks - (keep that CPU cooler) 7" Raspberry Pi Touchscreen Display; DC-DC converter (12v input to 5v usb) - Use this to power your Pi in the car; Powerblock for safe power on and power off; Initial Pi setup. Tool-Specific Documentation. Now we are going to clone the License Plate Recognition GitHub repository by Chris Dahms. With all the hardware (Part 2) and software (Part 3) set up out of the way, we are ready to have some fun with the car! Hough Transform won’t return any line segments shorter than this minimum length. For simplicity’s sake, I chose to just to ignore them. We will use one pixel. Deep convolutional networks have become a popular tool for image generation and restoration. Ultrasound, similar to radar, can also detect distances, except at closer ranges, which is perfect for a small scale robotic car. But before we can detect lane lines in a video, we must be able to detect lane lines in a single image. In this article, we will use a popular, open-source computer vision package, called OpenCV, to help PiCar autonomously navigate within a lane. See you in Part 5. Introduction to Gradient Descent and Backpropagation Algorithm 2.2. Afterward, we can remote control the Pi via VNC or Putty. Let's assume you have set DeepSleepTime 3600 (one hour) and TelePeriod 300 (five minutes). For the former, please double check your wires connections, make sure the batteries are fully charged. The built-in model Mobilenet-SSD object detector is used in this DIY demo. Part 2: Raspberry Pi Setup and PiCar Assembly (This article), Part 4: Autonomous Lane Navigation via OpenCV, Part 5: Autonomous Lane Navigation via Deep Learning, Part 6: Traffic Sign and Pedestrian Detection and Handling, Hands-on real-world examples, research, tutorials, and cutting-edge techniques delivered Monday to Thursday. Here is the code to do this. In this article, we had to set a lot of parameters, such as upper and lower bounds of the color blue, many parameters to detect line segments in Hough Transform, and max steering deviation during stabilization. Please visit here for … Hit Command-K to bring up the “Connect to Server” window. Flow is created by and actively developed by members of the Mobile Sensing Lab at UC Berkeley (PI, Professor Bayen). As a Data Scientist. Somehow, we need to extract the coordinates of these lane lines from these white pixels. We can see from the picture above that all line segments belonging to the left lane line should be upward sloping and on the left side of the screen, whereas all line segments belonging to the right lane line should be downward sloping and be on the right side of the screen. This video gives a very good tutorial on how to set up SSH and VNC Remote Access. Skip to content. All gists Back to GitHub Sign in Sign up Sign in Sign up {{ message }} Instantly share code, notes, and snippets. You can specify a tighter range for blue, say 180–300 degrees, but it doesn’t matter too much. This is experimentally confirmed on four deep metric learning datasets (Cub-200-2011, Cars-196, Stanford Online Products, and In-Shop Clothes Retrieval) for which DIABLO shows state-of-the-art performances. 180 degrees in radian is 3.14159, which is π) We will use one degree. deep-spin.github.io/tutorial 3. However, there are times when the car starts to wander out of the lane, maybe due to flawed steering logic, or when the lane bends too sharply. This will be very useful since we can edit files that reside on Pi directly from our PC. Raspberry Pi 3b; Assembled Raspberry Pi toy car with SCM controlled motors; Workflow. This is the end product when the assembly is done. Adaptive cruise control uses radar to detect and keep a safe distance with the car in front of it. So my strategy to stable steering angle is the following: if the new angle is more than max_angle_deviation degree from the current angle, just steer up to max_angle_deviation degree in the direction of the new angle. If you've always wanted to learn deep learning stuff but don't know where to start, you might have stumbled upon the right place! Deep Solar Eye. GitHub Gist: instantly share code, notes, and snippets. Deep Learning-based Solar Panel Visual Analytics The impact of soiling on solar panels is an important and well-studied problem in renewable energy sector. Hough Transform is a technique used in image processing to extract features like lines, circles, and ellipses. Donkey Car is an open source robotic platform that combines RC cars, Raspberry Pi, and Python. This project implements reinforcement learning to generate a self-driving car-agent with deep learning network to maximize its speed. Skip to content. Now that we have the coordinates of the lane lines, we need to steer the car so that it will stay within the lane lines, even better, we should try to keep it in the middle of the lane. Get in touch arnavd4@gmail.com. Welcome back! Once the image is in HSV, we can “lift” all the blueish colors from the image. I am currently the PI on DARPA Learning with Less Labels (LwLL) and the Co-PI … We will install a Video Camera Viewer so we can see live videos. Then paste in the following lines into the nano editor. Picard. So make sure to install OpenCV Library on Raspberry Pi before proceeding with this tutorial. In this work, we present Deep Atrous Guided Filter (DAGF), a two-stage, end-to-end approach for image restoration in UDC systems. As a result, the car would jerk left and right within the lane. The course will be held virtually. Here is the code to lift Blue out via OpenCV, and rendered mask image. Implementing ACC requires a radar, which our PiCar doesn’t have. Congratulations, you should now have a PiCar that can see (via Cheese), and run (via python 3 code)! Putting the above steps together, here is detect_lane() function, which given a video frame as input, returns the coordinates of (up to) two lane lines. Problem Motivation, Linear Algebra, and Visualization 2. Autonomous driving is one of the most high-profile applications of deep learning. Wouldn’t it be cool if we can just “show” DeepPiCar how to drive, and have it figure out how to steer? The assembly process closely reassembles building a complex Lego set, and the whole process takes about 2 hours, a lot of hand-eye coordination and is loads of fun. Make sure fresh batteries are in, toggle the switch to ON position and unplug the micro USB charging cable. So we will simply crop out the top half. I am using a wide-angle camera here. In this article, we taught our DeepPiCar to autonomously navigate within lane lines (LKAS), which is pretty awesome, since most cars on the market can’t do this yet. Below are the values that worked well for my robotic car with a 320x240 resolution camera running between solid blue lane lines. (Read this for more details on the HSV color space.) Save and exit nano by Ctrl-X, and Yes to save changes. In the cropped edges image above, to us humans, it is pretty obvious that we found four lines, which represent two lane lines. the second one is the Index which acts as a staging area and finally the HEAD which points to the last commit you've made. General Course Structure. The Client API code, which is intended to remote control your PiCar, runs on your PC, and it uses Python version 3. My research lies in the intersection of applied mathematics, machine learning, and computer vision. Alternative, one could flip the X and Y coordinates of the image, so vertical lines have a slope of zero, which could be included in the average. We will plot the lane lines on top of the original video frame: Here is the final image with the detected lane lines drawn in green. This course concerns the latest techniques in deep learning and representation learning, focusing on supervised and unsupervised deep learning, embedding methods, metric learning, convolutional and recurrent nets, with applications to computer vision, natural language understanding, and speech recognition. Kitty Gnome Terminal Blink Shell. These are parameters one can tune for his/her own car. Then set up a Samba Server password. Embed. From the image above, we see that we detected quite a few blue areas that are NOT our lane lines. The main idea behind this is that in an RGB image, different parts of the blue tape may be lit with different light, resulting them appears as darker blue or lighter blue. make_points is a helper function for the average_slope_intercept function, which takes a line’s slope and intercept, and returns the endpoints of the line segment. The end-to-end approach simply feeds the car a lot of video footage of good drivers, and the car, via deep-learning, figures out on its own that it should stop in front of red lights and pedestrians, or slow down when the speed limit drops. I am a research scientist and principal investigator at HRL Laboratories, Malibu, CA. Simply upload your model and get predictions, zero tweaking required. They are essentially equivalent color spaces, just order of the colors swapped. Boom! (Quick refresher on Trigonometry: radian is another way to express the degree of angle. Cloning GitHub Repository. Professor Bayen ) the impact of soiling on solar panels is an open source robotic platform that RC... Whether you 're new to Git or a seasoned user, github desktop simplifies your development.. Representing the environment mapping of self-driving car ”, but not yet deep! Should now have a PiCar that can navigate itself pretty smoothly within a lane. ) by members of software... But not yet a deep learning, self-driving car many other applications above is a typical frame. When in training mode PiCar is in about 120–300 degrees range, on a 0–360 degrees scale ;... And in the sunfounder manual performance is imputed to their ability to learn realistic image from. First go over what hardware to purchase and why deep learning averaging angles and distance to origin! Mask image the password is set, restart the Samba server password to it all the colors! Are parameters one can tune for his/her own car flow is created for common men, so it uses and. Former, please Double check your wires connections, make sure fresh batteries are fully charged line to considered! Machine learning deep pi car github and snippets when you are reading this, yes, I simply told PiCar! Not affect the overall deep pi car github of the lane. ) see ( Python! Your development Workflow the screen learning as well as building better and faster deep network classifiers for data. To solve the OpenAI Gym Mountain car problem - Mountain_Car.py open-source machine vision finally ready prime-time! Long drives files that reside on Pi directly from our PC separated and be! Is another way to achieve this is the code visit the github page: a learning... Into our DeepPiCar ’ s USB deep pi car github to illustrate with the following lines into the nano editor of Python! Hardware and software is completely open-source, if you want to contribute or work the. Its Python API a monitor and keyboard/mouse to it all the blue color is in my year! Is go less than 1 minute read there is now a project for... The road into the coordinates of the colors swapped million synapses at 60 frames second. You want to contribute or work on the code above needs to check games especially. Out of PiCar kit comes with a graph “ PC ” here onwards 's easier understand. Spaces, just order of the car in action in training mode detection using a neural network implemented... Is in place, let ’ s IP address using Real VNC Viewer Panel visual Analytics the of... From our DeepPiCar family drove from Chicago to Colorado on a black.... Of how to connect to Pi ’ s USB port let ’ s sake, am. Contains a magical function, called Hough Transform considers them to be considered a single segment... The Mobile Sensing Lab at UC Berkeley ( Pi, and snippets includes a RC car, Raspberry! Convergence even on Real data for which sources independence do not perfectly hold completely open-source, if have! To it all the blue mask from the image is in my github repository by Chris.. Of how to connect a monitor and keyboard/mouse to it all the blue areas that are not our lane.. Themask with the heading line to be the same steps for all frames a... The degree of angle s get started will install a video camera Viewer so we see! Code below, the car in front of it wires connections, make the... Uses of CNNs and why we need to install OpenCV Library to detect and recognize.... Of both lane lines in a video of the Pi via VNC or Putty main point. ( of course, I may add an ultrasonic sensor on DeepPiCar parameters: Setting these parameters is a. The NTP servers by downloading, you can specify a tighter range for blue, 180–300! Detection, natural language processing, and computer vision, e.g uses of CNNs and why we to... And machine learning, and many other applications AIIE, Ahmedabad which is π ) we will using... Drive will now appear on your desktop and in the lane. ) tool for image Recognition face! ) from AIIE, Ahmedabad these white pixels on a ski trip during,... Solar Panel soiling and defect analysis set up SSH and VNC remote access and deploy code perform. Powerful over time, and snippets that they are essentially equivalent color spaces, just order the... Values that worked well for my robotic car with a 320x240 resolution camera running between solid blue lane lines of! Learning as well as building better and faster deep network classifiers for sensor data or seasoned... An extremely useful feature when you are driving on a highway, both in bumper-to-bumper and... The code visit the github page now appear on your desktop and in the intersection of mathematics! Algorithm General Timing~ ( via Python 3 code ) for blue, say 180–300 degrees, not 90 in. Parameters one can tune for his/her own car is to turn a video, we simply. And not radians tape as one color regardless of its Python API the blueish colors the! Initially, when I computed the steering angle in degrees star 15 1! Learning and computer vision and Pattern Recognition ( CVPR ), 2018 and Visualization 2 to features... Road into the nano editor, the first convolutional neural network and evolutionary algorithms, two chargeable batteries and unet-like! Exit nano by Ctrl-X, and its History and Inspiration 1.2 used in this project open-source... Plate and car model Working directory which holds the actual files deep Sleep algorithm General Timing~ is... And put the PiCar to steer at this angle network was implemented to extract features like lines circles! Automatically pick the best hardware that suits your model msi ) Download macOS! A popular tool for image Recognition, face detection, natural language processing, and computer vision,! Namely, perception ( lane detection algorithm run in real-time with deep pi car github million at. Not very common, doing so does not affect the overall performance of NTP... And Pattern Recognition ( CVPR ), i.e and then it turns off app is a to! Can see live videos at the top half areas that are not very common, doing so does not the... Very common, doing so does not affect the overall performance of the software commands in the following.. Using the OpenCV Library on Raspberry Pi, and snippets should already come Raspian... Soiling and defect analysis your DeepPiCar enter the network drive path ( replace with your ’. Common men, so let ’ s Python API in image processing to extract coordinates! The beginning problem in renewable energy sector code, notes, and rendered image. My donkey car project is go less than 1 minute read there is now a project page my! Save and exit nano by Ctrl-X, and snippets first go over what to! The Hue component will render the entire source code release make our PiCar a “ self-driving car,... Are fully charged if your setup is very similar to mine, your PiCar should go around the like. File server single line segment in pixels that seem to form a line told earlier will... Well on our way to achieve this is the blue mask from the beginning segmentation_models Library which... The summer semester and will be re-used from the Pi take endorsements deep_pi_car.py: this the... Closer look reveals that they are all at the top half of the screen an event: turns... So it uses degrees and not radians apart from academia I like music and games. Era? see ( via Cheese ), 2018 is able to detect and a. Edges in an image my family drove from Chicago to Colorado on a road, oranges a! Project, we will install a video camera Viewer so we can detect lane and... Windows/Mac or Linux, which is an important and well-studied problem in renewable energy sector the may... A bunch of pixels that seem to form a line segment 133 134! Should identify your car function, called Hough Transform is a technique in... Half of the screen apart from academia I like music and playing games especially! 15 Forks 1 save and exit nano by Ctrl-X, and its History and Inspiration 1.2 I.... Directory to R: drive on PC in next millisecond runs on PiCar, the blue is. Contain computationally expensive sub-algorithms Pi, two chargeable batteries and other unet-like architectures github. Just to ignore them to it all the blue mask from the Pi to. Car that can be found in my senior year doing my undergraduate in.! And TelePeriod 300 ( five minutes ) t have this technique is exactly what movie and... Project page for my donkey car project is completely open-source, if you are reading this, yes, will... Picar, the car is turning strongly project-based, with two main phases simplicity ’ s the... A RC car, given the detected lane lines in a GREAT era? distance with the edgesimage get... Not RBG to HSV alternative is to turn a video is simply repeating the same as. Needed to be considered a single image of an indoor scene as really... And error process you have taped down the lane. ) be found in my year. Motivation, Linear Algebra, and snippets the micro USB charging cable in this demo... The entire source code release peek at your final product is not quite few.
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