Code useful for home robots

• Motor controls and digital sensor integration on the Arduino Nano.
  • Rationale: they have large example sets, are pretty forgiving hardware, cheap, and already are on hand.
• Higher level and more complex logic will be handled through Python on the Raspberry Pi 4.
  • Rationale: adequate guides and similar examples, relatively cheap, and are already on hand.
• This code will be used with differential drive robots, that will share the same root code and much of its functionality, with special configurations being addressed as the time comes.

To Do:(Not in any order)

• voice activation PicoVoice control of modes https://picovoice.ai/docs/quick-start/orca-python/
• Serial exchange from Pi to Arduino heartbeats and watchdog https://roboticsbackend.com/raspberry-pi-arduino-serial-communication/
• Camera functionality tensor flow or https://www.raspberrypi.com/documentation/computers/camera_software.html#rpicam-apps
• Establish Modes through controller buttons
  1. Stop
  2. Stadia controlled
  3. OpenCV tracking or Open Bot
• CAN motor control https://forums.raspberrypi.com/viewtopic.php?t=296117
• ROS integration https://docs.ros.org/en/foxy/How-To-Guides/Installing-on-Raspberry-Pi.html
• Start script in terminal on startup - https://forums.raspberrypi.com/viewtopic.php?f=66&t=294014 * sudo nano /etc/xdg/lxsession/LXDE-pi/autostart * @lxpanel --profile LXDE-pi * @pcmanfm --desktop --profile LXDE-pi * @xscreensaver -no-splash * @lxterminal -e python3 /path/Pi.py - BROKE BLUETOOTH and did not open a terminal
  • Alaternatively??? start script Pi.py sudo nano /etc/xdg/autostart/display.desktop https://www.makeuseof.com/how-to-run-a-raspberry-pi-program-script-at-startup/
• Bluetooth use rfcomm https://forums.raspberrypi.com/viewtopic.php?t=320455

References:

• Pi safe shutdown button https://scribles.net/adding-power-switch-on-raspberry-pi/
• Setup Arduino on Pi (scroll down to ARM) https://magpi.raspberrypi.com/articles/program-arduino-uno-raspberry-pi
• Setup Github on Pi (Remember SSH no longer works) https://www.theserverside.com/blog/Coffee-Talk-Java-News-Stories-and-Opinions/Fix-GitHubs-support-for-password-authentication-was-removed-error
  1. cd robot
  2. git pull (without login: git clone https://github.com/rsmith8/robot.git)
  3. git add --all #or file name eg. README.md
  4. git commit -am "Notes..."
  5. git push
• Pi4 case https://www.printables.com/model/106225-modular-snap-together-raspberry-pi-2b3b3b4-case-w-
• https://www.raspberrypi.com/documentation/computers/
• Pin out and Pi references https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#gpio
• https://docs.arduino.cc/learn/electronics/servo-motors/
• Kitronik Simply Servos Board for Raspberry Pi Pico https://www.sparkfun.com/products/20040 https://github.com/KitronikLtd/Kitronik-Pico-Simply-Servos-MicroPython
• Mount and SD card https://www.wikihow.com/Linux-How-to-Mount-Drive#:~:text=To%20mount%20a%20drive%20on,to%20mount%20and%20unmount%20drives.
  • lsblk -lf
  • sudo mkdir /media/mydrive
  • sudo mount /dev/XXXX /media/mydrive
  • sudo umount /media/myflashdrive
• Bluetoothctl issues fixed: https://raspberrypi.stackexchange.com/questions/122429/raspberry-pi-4-wont-pair-to-bluetooth-devices
• Fix Bluetooth from https://return2.net/fix-bluetooth-problems-on-raspberry-pi-running-raspbian/
  • Reinstall Bluetooth packages: sudo apt purge bluez && sudo apt install bluez.
  • Reinstall pi-bluetooth: sudo apt purge pi-bluetooth && sudo apt install pi-bluetooth.
• Bluetooth use rfcomm https://forums.raspberrypi.com/viewtopic.php?t=320455
• TF Luna sensor example https://www.waveshare.com/wiki/TF-Luna_LiDAR_Range_Sensor
• Run code on startup use 'systemd' from https://learn.sparkfun.com/tutorials/how-to-run-a-raspberry-pi-program-on-startup/method-3-systemd https://forums.raspberrypi.com/viewtopic.php?p=2292242&hilit=Bluetooth#p2292242 raspi-info

Build Instructions

1. Hardware:
   • Yardbot - endless hours to build
   • Raspberry Pi4 and supplies
   • Wide FoV Pi camera
   • TF-Luna Sensor on I2C
   • 5x Jaguar Speed controllers or other PWM motor controller
   • circuit breaker for battery and fuse bus for each peripherial
   • Wiring pin layout in Arduino firmware
2. Install Raspberry Pi OS using Raspberry Pi Imager https://www.raspberrypi.com/software/
3. Configure Pi for wifi (2.4 ghz), VNC enabled, and bluetooth connection for controller
4. Startup and configure software
   • Get github personal access token - settings - developer settings, copy and paste as password on clone command
   • git clone https://github.com/rsmith8/robot.git
   • setup Arduino https://magpi.raspberrypi.com/articles/program-arduino-uno-raspberry-pi
     • install library -> Adafruit NeoPixel
     • install 'Arduino-Nano.ino' firmware
   • sudo apt install python3-evdev
     • python -m evdev.evtest
   • Configure service to start Pi.py
     • sudo cp robot/robot.service /lib/systemd/system/
     • sudo systemctl daemon-reload
     • sudo systemctl enable robot.service
   • python3 -m pip config set global.break-system-packages true
   • pip3 install pvorca
   • Automate STARTUP....
5. Run from terminal

• cd robot
• python3 Pi.py