├── .gitignore ├── LICENSE ├── README.md ├── README_ja.md ├── assets ├── cad │ ├── HB5_holder │ │ ├── HB5_holder.ipt │ │ ├── HB5_holder.jpg │ │ └── HB5_holder.stl │ ├── OLED_holder │ │ ├── OLED_holder.ipt │ │ ├── OLED_holder.jpg │ │ └── OLED_holder.stl │ ├── Pcam5C │ │ ├── Pcam5C_holder.ipt │ │ ├── Pcam5C_holder.jpg │ │ ├── Pcam5C_holder.stl │ │ ├── Pcam5C_mounter.ipt │ │ ├── Pcam5C_mounter.jpg │ │ └── Pcam5C_mounter.stl │ ├── SC1602AWWB_holder │ │ ├── sc1602_socket.FCStd │ │ ├── sc1602_socket.gcode │ │ └── sc1602_socket.stl │ ├── base_chassis │ │ ├── README.md │ │ ├── robocar_base.FCStd │ │ ├── robocar_base.FCStd1 │ │ ├── robocar_base.step │ │ ├── robocar_base.stl │ │ ├── robocar_base2.step │ │ ├── robocar_middle.FCStd │ │ ├── robocar_middle.FCStd1 │ │ └── robocar_middle.step │ ├── battery_case │ │ ├── battery_case.ipt │ │ ├── battery_case.jpg │ │ └── battery_case.stl │ ├── camera_cap_holder │ │ ├── camera_cap_holder.ipt │ │ ├── camera_cap_holder.jpg │ │ └── camera_cap_holder.stl │ ├── protection_circuit_holder │ │ ├── protection_circuit_holder.ipt │ │ ├── protection_circuit_holder.jpg │ │ └── protection_circuit_holder.stl │ ├── stick │ │ ├── stick.FCStd │ │ ├── stick.gcode │ │ └── stick.stl │ └── usb_hub_holder │ │ ├── usb_hub_holder.ipt │ │ ├── usb_hub_holder.jpg │ │ └── usb_hub_holder.stl └── patch │ ├── dot.config │ ├── dot.config.patch │ ├── dot.config20201.patch │ ├── linux-xlnx-v2019.1-zybo-z7-builddeb.diff │ └── zynq-zybo-z7.dts ├── docs ├── README.md ├── sec1 │ ├── ad-refkit-image_s.jpg │ ├── index.md │ └── index_ja.md ├── sec2 │ ├── index.md │ └── index_ja.md ├── sec3 │ ├── index.md │ └── index_ja.md ├── sec4 │ ├── index.md │ └── index_ja.md └── sec5 │ ├── ad-sample.png │ ├── index.md │ └── index_ja.md └── zybo ├── BOOT_FS ├── BOOT.bin ├── bootbin_src │ ├── build.bif │ ├── fsbl.elf │ ├── hardware.bit │ └── u-boot.elf ├── uEnv.txt ├── uImage ├── uramdisk.image.gz ├── zynq-zybo-z7.dtb └── zynq-zybo-z7.dts ├── ROOT_FS ├── app │ ├── ad-sample │ │ ├── CMakeLists.txt │ │ ├── data │ │ │ ├── Common │ │ │ │ └── motor.yaml │ │ │ ├── HWController │ │ │ │ ├── param.yaml │ │ │ │ ├── param.yaml.2020_04 │ │ │ │ ├── param.yaml.2020_11 │ │ │ │ ├── pcam_calibration_parameter.xml │ │ │ │ ├── pcam_calibration_parameter.xml.2020_04 │ │ │ │ ├── pcam_calibration_parameter.xml.2020_11 │ │ │ │ └── webcam_vga_calibration_parameter.xml │ │ │ ├── Handler │ │ │ │ ├── param.yaml │ │ │ │ ├── param.yaml.2020_04 │ │ │ │ └── param.yaml.2020_11 │ │ │ ├── LineTracer │ │ │ │ └── param.yaml │ │ │ └── WOCalculator │ │ │ │ └── param.yaml │ │ ├── include │ │ │ ├── AngularVelocity.hpp │ │ │ ├── BirdEyeImg.hpp │ │ │ ├── HandlerHelper.hpp │ │ │ ├── ProcTimer.hpp │ │ │ ├── Theta.hpp │ │ │ ├── Util.hpp │ │ │ ├── VehicleState.hpp │ │ │ ├── WheelOdometry.hpp │ │ │ ├── YAMLHelper.hpp │ │ │ └── base │ │ │ │ └── StateBase.hpp │ │ └── src │ │ │ ├── ad │ │ │ ├── HWController │ │ │ │ ├── ButtonController │ │ │ │ │ ├── ButtonController.cpp │ │ │ │ │ └── ButtonController.h │ │ │ │ ├── MotorController │ │ │ │ │ ├── MotorController.cpp │ │ │ │ │ └── MotorController.h │ │ │ │ ├── PcamController │ │ │ │ │ ├── PcamController.cpp │ │ │ │ │ ├── PcamController.h │ │ │ │ │ └── PcamImageCorrector │ │ │ │ │ │ ├── PcamImageCorrector.cpp │ │ │ │ │ │ └── PcamImageCorrector.h │ │ │ │ └── WebcamController │ │ │ │ │ ├── WebcamController.cpp │ │ │ │ │ └── WebcamController.h │ │ │ ├── Handler.cpp │ │ │ ├── Handler.h │ │ │ ├── LineTracer │ │ │ │ ├── LineTracer.cpp │ │ │ │ └── LineTracer.h │ │ │ └── WOCalculator │ │ │ │ ├── WOCalculator.cpp │ │ │ │ └── WOCalculator.h │ │ │ ├── main.cpp │ │ │ └── main.h │ ├── make-calibration-param │ │ ├── CMakeLists.txt │ │ └── src │ │ │ ├── main.cpp │ │ │ └── main.h │ ├── make-homography-param │ │ └── make-homography-param.py │ ├── motor-test-websocket │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── compile_commands.json │ │ ├── docs │ │ │ └── motor-test-websocket-screenshot.png │ │ ├── python │ │ │ ├── server.py │ │ │ └── websocket_client.html │ │ └── src │ │ │ ├── main.cpp │ │ │ └── main.h │ ├── motor-test │ │ ├── CMakeLists.txt │ │ ├── compile_commands.json │ │ └── src │ │ │ ├── main.cpp │ │ │ └── main.h │ ├── pcam-test-websocket │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── data │ │ │ └── pcam_calibration_parameter.xml │ │ ├── lock │ │ ├── python │ │ │ ├── index.html │ │ │ └── server.py │ │ └── src │ │ │ ├── main.cpp │ │ │ └── main.h │ ├── pcam-test │ │ ├── CMakeLists.txt │ │ ├── data │ │ │ ├── pcam_calibration_parameter.xml │ │ │ ├── pcam_calibration_parameter.xml.2020_04 │ │ │ └── pcam_calibration_parameter.xml.2020_11 │ │ └── src │ │ │ ├── main.cpp │ │ │ └── main.h │ ├── take-pcam-image │ │ ├── CMakeLists.txt │ │ └── src │ │ │ ├── main.cpp │ │ │ └── main.h │ └── webcam-test │ │ ├── CMakeLists.txt │ │ ├── data │ │ ├── FHD │ │ │ └── calib_param.xml │ │ └── VGA │ │ │ └── calib_param.xml │ │ └── src │ │ ├── main.cpp │ │ └── main.h ├── driver │ └── v4l2 │ │ ├── build │ │ └── Makefile │ │ ├── include │ │ ├── string.h │ │ ├── xil_assert.h │ │ ├── xil_io.h │ │ ├── xil_types.h │ │ └── xstatus.h │ │ ├── src │ │ ├── dummy.c │ │ ├── ioctl.c │ │ ├── main.c │ │ ├── mipicsi.c │ │ ├── v4l2.mod.c │ │ ├── vdma.c │ │ └── zynq_v4l2.h │ │ └── v4l2_20201.patch ├── dts │ ├── btn-input.dts │ ├── fpga.dts │ ├── i2c.dts │ ├── motor-gpio.dts │ ├── preimproc.dts │ └── v4l2.dts ├── firmware │ └── .gitkeep ├── init.sh ├── init20201.sh ├── lib │ ├── build_all.sh │ ├── control │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── PID │ │ │ │ └── PID.h │ │ │ └── control.h │ │ └── src │ │ │ └── PID │ │ │ └── PID.cpp │ ├── improc │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── ImageCorrector │ │ │ │ └── ImageCorrector.h │ │ │ ├── Labeling │ │ │ │ └── Labeling.h │ │ │ └── improc.h │ │ └── src │ │ │ ├── ImageCorrector │ │ │ └── ImageCorrector.cpp │ │ │ └── Labeling │ │ │ └── Labeling.cpp │ ├── include │ │ └── .gitkeep │ └── zynqpl │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── btns │ │ │ └── btns.h │ │ ├── motor │ │ │ └── motor.h │ │ ├── pcam │ │ │ ├── pcam.h │ │ │ ├── ps │ │ │ │ ├── PSGPIO.h │ │ │ │ └── PSIIC.h │ │ │ └── video │ │ │ │ └── VideoController.h │ │ ├── preimproc │ │ │ └── preimproc.h │ │ └── zynqpl.h │ │ └── src │ │ ├── btns │ │ └── btns.cpp │ │ ├── motor │ │ └── motor.cpp │ │ ├── pcam │ │ ├── pcam.cpp │ │ ├── ps │ │ │ ├── PSGPIO.cpp │ │ │ └── PSIIC.cpp │ │ └── video │ │ │ └── VideoController.cpp │ │ └── preimproc │ │ └── preimproc.cpp ├── package │ ├── linux-headers-4.19.0-xilinx_4.19.0-xilinx-3_armhf.deb │ ├── linux-image-4.19.0-xilinx_4.19.0-xilinx-3_armhf.deb │ └── linux-libc-dev_4.19.0-xilinx-3_armhf.deb └── zynq_bsp │ └── .gitkeep └── vivado ├── ip ├── AXI_BayerToRGB │ ├── component.xml │ ├── hdl │ │ ├── AXI_BayerToRGB.vhd │ │ └── LineBuffer.vhd │ └── xgui │ │ └── AXI_BayerToRGB_v1_0.tcl └── AXI_GammaCorrection │ ├── component.xml │ ├── hdl │ ├── AXI_GammaCorrection.vhd │ └── StoredGammaCoefs.vhd │ ├── xdc │ └── AXI_GammaCorrection.xdc │ └── xgui │ └── AXI_GammaCorrection_v1_0.tcl ├── prj └── 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