ℹ️ This project is no longer under development, dev-v2 is the last updated branch

rcute-cozmars-server

Firmware for Cozmars V2

Upgrades compared to V1

buzzer is replaced by a speaker
motors are slightly faster

Setup

sudo raspi-config
- enable ssh, i2c, spi, camera, and disable serial.
- then set rpi's host name as 'rcute-cozmars-xxxx', 'xxxx' being the last 4 digit of mac address.
- set your locale.
- memory split and set 128 or 256 for GPU (not sure if this is needed)
enable microphone according to adafruit article
enable i2s amp(speaker) according to adafruit article, say 'N' to playback service.
make rpi auto generate wifi hotspot when unable to connect to your wifi router, this article from raspberryconnect will help

install required libs

build portaudio from latest(2020 Dec) source for a new bug fix

wget https://github.com/PortAudio/portaudio/archive/master.zip
unzip portaudio-master.zip
cd portaudio-master
./configure && make && sudo make install

in the future you can simply apt install libportaudio2

install other libs

sudo apt install libtiff5 libopenjp2-7 python3-cffi portaudio19-dev python3-pip

install rcute-cozmars-server

 sudo python3 -m pip install rcute-cozmars-server==2.*
 mkdir ~/.cozmars
 wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/conf.json -P ~/.cozmars
 wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/env.json -P ~/.cozmars
 sudo wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/cozmars.service -P /etc/systemd/system
 sudo systemctl enable cozmars.service
 sudo wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/cozmars.avahi.service -P /etc/avahi/services
 sudo reboot

Electronic parts

raspberry pi zero w
15cm cable 72° lens OV5647 camera
9g plastic blue servo X3
PCA9685 16-channel servo driver with capacitor (bend straight the 90° pins)
1.14 inch color display
3v ~~15r/m~~ 30r/m N20 motor X2
L298N motor driver
infrared sensor X2
ultrasonic distance sensor (3.3v compatible)
12mmx12mm button
112D on/off power button
INMP441 microphone (use 90° pins)
3.7v battery (important: not 7.4v)
~~buzzer~~
MAX98357 amp
35x20mm 8om 1w cavity speaker
and many 10cm wires (use soft silicone wires to connect display)

Some of the pins are interchangable if you configure ~/.cozmars/conf.json file accordingly. But pins of spi/i2s/i2c buses can't be changed.

License

This project is open sourced for educational purpose, Commercial usage is prohibited.

Related stuff

3d model and build instructions: https://www.thingiverse.com/thing:4657644
python sdk: https://github.com/r-cute/rcute-cozmars

dexif / rcute-cozmars-server