RoboPi Reference

SSH Remote Access

On your laptop, connect to the Robo wireless network (password provided by your teachers), open the Terminal app, and type:

ssh student@192.168.21.XXX

...where XXX is the number of your RoboPi (robo-XXX)

SSH Password: Engineering!1

Manual Control

You will be using SSH to remotely control the robot. Use the code from the BSMRKRS robo-control repository.

Web Interface

http://192.168.21.XXX

...where XXX is the number of your RoboPi (robo-XXX)

For more information visit D3v3lopment Notes

For examples clone robo-web

Autonomy / Sensors

https://github.com/BSMRKRS/robotonomy

This code has examples for using sensors and sending feedback to the web interface.

Camera

Start the camera:

/home/student/start_camera.sh &

Stop the camera:

/home/student/stop_camera.sh

View the camera:

http://192.168.21.XXX:8080

*If the camera becomes delayed on the stream, just refresh the page

Using the terminal

Read through this tutorial on using the shell: http://ryanstutorials.net/linuxtutorial/navigation.php

Then see more Here

Pin Documentation

Important Pin Info:

Pins Servo 0 - 7 and ADC pins share bandwidth; This means that a device can not be plugged into a Servo 0 - 7 pin and an ADC pin label with the same number. Example: Servo 5 and ADC 5 can not be used at the same time.

Correct Pin Numbers (Mikronauts's Pin Labeling is incorrect):

New RoboPi Setup

Enable and swap bluetooth/console serial aliases
1. sudo nano /boot/config.txt
  1. Change (if exists): enable_uart=0
  2. To (or add): enable_uart=1
  3. Add:
  4. #swap BT and serial ports
  5. dtoverlay=pi3-miniuart-bt
  6. sudo reboot now

Motors

Servos are controlled by electrical pulses (PWM)

1.5 pulse makes it turn 90°, less than that will make it go to 0°, more will go to 180°

Servos except a pulse every 20ms → 50 pulses per second or Hz

RPL.servoWrite(0, 1500)

RPL.servoWrite(1, 1500) # 1500 in y value → makes motors even

RPL.servoWrite(0, 0)

RPL.servoWrite(0, 0) # 0 in y value actually stops it

1 = right motor

0= left motor

0,1400: moves forward

0,1600: moves backward

1,1600: moves forward

1,1400: move backward

(Must be run in 'RoboPi_controller' file)

*If this command does not work, you may have to update the pi it's running on*

RPL.pwmWrite(pin, motor_speed, motor_speed * 2) #first input is the pin number, second input is the 'on' value for electral pulses, third input it the total amount of electrical inputs given to the motor

TWO MOTORS, TWO SENSORS

This example code shows how to control both motors at the same time. Everything bolded is instructions; switch out the words READING and SPEED for actual readings and speeds. Remember, there are only 2 readings: 1 and 0. When dealing with speeds, use 0 instead of 1500 to make the motor stop. This generally works better.

import RoboPiLib as RPLimport setupx = 1L = 1 #Left MotorR = 0 # Right MotorLS = 16 #Left SensorRS = 17 #Right SensorRPL.pinMode(LS,RPL.INPUT)RPL.pinMode(RS,RPL.INPUT)
def left(): #only left motor controlsif readingL == READING:RPL.servoWrite(L, SPEED)elif readingL == 1:RPL.servoWrite(L, SPEED)
def right(): #only right motor controlsif readingR == READING:RPL.servoWrite(R, SPEED)elif readingR == 1:RPL.servoWrite(R, SPEED)
def both(): #instructions for when both motors are set offRPL.servoWrite(L, SPEED)RPL.servoWrite(R, SPEED)
def none(): #instructions for what to do when no motors are set offRPL.servoWrite(L, SPEED)RPL.servoWrite(R, SPEED)
while x == 1:readingL = RPL.digitalRead(LS)readingR = RPL.digitalRead(RS)if readingL == READING and readingR == READING:both()elif readingL == READING and readingR == READING:none()else:left()right()

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