ECSE 211 Team 18 Project - Delivvery

McGill University - Fall 2025

Team members

• David
• Emilie
• Jason
• Ralph
• Santiago
• Sarah

The Mission

Create a robot that can navigate an office, scan rooms and deliver packages.

The Tech

This project was made using BrickPi, based on the Lego Mindstorms and EV3 Sensors.

The code was made using Python.

Running the project

Make sure all the proper connections are made to the BrickPi:

Motors:
- Left Wheel -> Port "B"
- Right Wheel -> Port "C"
- Conveyor Belt -> Port "D"

Color Sensor -> Port '2'
Touch Sensor -> Port '4'
Gyro Sensor -> Port '1'

Then, run the following:

python3 ./src/robot.py

Tip

For best results, make sure your battery is fully charged before running the robot. Also, if you want to hear sounds, make sure to have a speaker plugged in and turned on.

Repository structure

Here is the structure of this project repository

.
├── README.md
├── assets
│   └── logo.png
├── data_analysis
│   └── robot-demo-logs.md
├── docs
│   ├── brickpi3.html
│   ├── index.html
│   ├── simpleaudio.html
│   ├── simpleaudio.shiny.html
│   ├── utils.brick.html
│   ├── utils.filters.html
│   ├── utils.html
│   ├── utils.sound.html
│   └── utils.telemetry.html
├── sample_code
│   ├── _sample_defining_devices.py
│   ├── _sample_motors.py
│   ├── _sample_sensors.py
│   ├── _sample_sensors_explained.py
│   ├── collect_color_sensor_data.py
│   └── drumming_software.py
├── scripts
│   └── reset_brick.py
└── src
    ├── color_utils
    │   ├── color_average_finder.py
    │   ├── color_detect.py
    │   └── colors.json
    ├── delivery.py
    ├── office_navigation.py
    ├── office_scanning.py
    ├── robot.py
    ├── utils
    │   ├── __init__.py
    │   ├── brick.py
    │   ├── dummy.py
    │   ├── filters.py
    │   ├── gyro_align.py
    │   ├── remote.py
    │   ├── rmi.py
    │   ├── sound.py
    │   └── telemetry.py
    └── wheels.py

And here is a description on some of the important directories/files:

• src contains all of our python code used for our robot.
  • src/utils was copied from the lab and contains all the brickpi libraries.
  • src/color_utils are a special set of utilities made by us in order to accurately detect colors with the color sensor.
  • delivery.py contains our DeliverySystem, responsible for dropping packages with the conveyor belt and producing sounds.
  • office_navigation.py contains our NavigationSystem, responsible for navigating from one room to the next and for going back to the mailroom after mission complete.
  • office_scanning.py contains two helper functions for scanning a room and detecting red and green stickers
  • robot.py is our main program containing the Robot class. We run this file whenever we want to run our entire robot and do the full mission.
  • wheels.pycontains our Wheels class with a lot of useful functions for robot movement.
• docs contains some useful documentation on the different BrickPi library functions
• sample_code was copied over from Labs 1-3, it contains some examples.
• scripts contains a useful reset_brick.py script. This was copied over from Labs 1-3, but we do not use it in our Robot. We use utils.brick.reset_brick() instead.
• data_analysis contains our logs from the demo tests
• assets contains images and other assets used for this GitHub page.