RubikSolverRobot

An archived robotics project that detects a Rubik's Cube, calculates a solution, and sends face-turn commands to an Arduino-driven mechanism.

The original prototype is preserved in legacy/. A small Python 3 command-line interface now documents and tests the core solver-to-robot protocol without starting a camera or moving hardware by default.

Important

This is a historical showcase project, not a maintained hardware product. Servo geometry, camera thresholds, and timing values depend on the original prototype. Test all motion with the mechanism disconnected or unloaded first.

What the prototype did

1. Captured the six cube faces with a webcam.
2. Classified sticker colors with OpenCV thresholds.
3. Used the Kociemba algorithm to calculate a solution.
4. Converted standard cube moves to a one-byte serial protocol.
5. Used an Arduino and two servos to reposition and turn the cube.

flowchart LR
    Camera[Webcam] --> Vision[Color detection]
    Vision --> State[54-sticker cube state]
    State --> Solver[Kociemba solver]
    Solver --> Protocol[Move encoder]
    Protocol --> Serial[USB serial]
    Serial --> Arduino[Arduino and servos]

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Repository map

Path	Purpose
src/rubik_solver_robot/	Safe Python 3 state validation, solving, and command encoding
firmware/rubik_robot/	Serial protocol test sketch; it does not move servos
legacy/	Unmodified original Python GUI and Arduino sketch
docs/	Architecture, hardware notes, and legacy limitations
tests/	Unit tests for cube-state and protocol rules

Try it without hardware

Python 3.10 or later is required.

python -m pip install -e .
rubik-robot --solution "R U R' U'"

The command prints the encoded bytes and does not open a serial port:

Moves: R U R' U'
Commands: R U r u
Mode: dry run (no serial data sent)

You can also solve a 54-character cube state in URFDLB face order:

python -m pip install -e '.[solver]'
rubik-robot --cube-state UUUUUUUUURRRRRRRRRFFFFFFFFFDDDDDDDDDLLLLLLLLLBBBBBBBBB

Hardware execution is an explicit action:

python -m pip install -e '.[hardware]'
rubik-robot --solution "R U R' U'" --execute --port /dev/ttyACM0

Use a Windows port such as COM5 when applicable. Read docs/HARDWARE.md before you send commands.

Protocol

The modern interface accepts standard moves for the six faces: U, R, F, D, L, and B. A prime suffix means a counter-clockwise turn. A 2 suffix means a half turn.

Move	Serial byte	Move	Serial byte	Move	Serial byte
F	F	F'	f	F2	1
B	B	B'	b	B2	2
U	U	U'	u	U2	3
D	D	D'	d	D2	4
L	L	L'	l	L2	5
R	R	R'	r	R2	6

Historical screenshots

Current limits

• The Python 3 interface does not replace the old camera GUI.
• The protocol test firmware does not drive the servo mechanism.
• The legacy Arduino sketch has known syntax and dispatch defects.
• The original color thresholds and motion values need hardware calibration.
• Exact compatibility with the original prototype is not a project goal.

See docs/LEGACY_NOTES.md for the audit details.

Development

python -m unittest discover -s tests -v
python -m compileall -q src tests

License

This repository is available under the MIT License.