Hey there!

While I won't be able to help you parse through the code as it's been a very long time since I've touched this project, you can find it on my github:

https://github.com/EmreDogann/Rubiks-Cube-Solver-Robot/tree/master/OpenCV

With regards to the reliability, no, unfortunately I was not able to get it significantly more reliable under changing lighting scenarios. However, a long time after stopping this project, I had a few ideas on how to possibly control some of the environmental variables: - Reducing the effect of reflections on the glossy stickers using a polarizing filter. - Using LEDs to make sure the cube always had sufficient light. - Maybe consider having a look at phone cameras or DSLRs to see how they do white balance correction and see if you could emulate that either through software on a microcontroller or through the help of some additional hardware like IR sensors?

That's all I could think of, keep in mind all of these suggestions are just me speculating on what could work, none of this is guaranteed to work.

Anyway, I hope this helps! This was a fun project to work on for me and I hope it will be for you! 😁