SSROV

The code repository for all things needed to create an internet-controllable ROV.

WARNING: This is a work-in progress!

TODO:

Excel budget and inventory
Finish combining working modules
1. Web interface:
  1. Buttons that call the cgi-bin scripts without refreshing or leaving the page
  2. Graphical rather than text overlay for data
  3. Options page to set streaming parameters in case badwidth isn't enough
Develop salinity sensor module
Modify pressure sensor to use I2C-3
Make sure wiringPi doesn't interfere with I2C hacks
Purchase and test ethernet add-on board or USB through the GPIO.
Setup a full working hardware prototype (so the pins can be tested for conflicts)
Package and tutorial around ethernet gadget mode (for Pi0 only)
List of apt packages required
Screenshots for everything

Introduction

The internet ROV is powered by the budget Raspberry Pi Zero and common off-the-shelf components found that is built around the Raspberry Pi platform as well as basic programming. The goal of this project is to enable a remote user to access a ROV without being on the docks.

The remote user connects to a proxy server (a workaround to port-forwarding restrictions) that forwards all connections to the ROV server, which is onboard the ROV itself. All calculations are excecuted on the ROV itself. The user can see a live image of the ROV, an overlay of various data, and control using onscreen buttons or a keyboard. The onsite operator should be able to simply connect the ROV to a laptop and power source, connect to the internet, and run a script which handles all the initialisation of software, such that no configuration or programming is needed.

Hardware:

Raspberry Pi Zero (or Raspberry Pi Zero W, soldered headers optional)
1x SD card for Raspberry Pi OS and software storage
4x Motor control boards
1x Raspberry Pi Camera
1x OpenROV combo sensor: Adds compass heading, orientation, pressure, and temperature data retrieval
1x Salinity sensor
1x Portable computer for configuration and tethering
1x Mobile hotspot

Item	Link	Quantity	Price/Unit
Raspberry Pi Zero W	https://www.adafruit.com/product/3400	1	$10.00
Raspberry Pi Zero	https://www.adafruit.com/product/2885	1	$5.00
NOTE: Most sites only allow 1 RPi per purchase	Alternate links: https://www.raspberrypi.org/products/
2x20 Breakaway Header Strip	https://www.adafruit.com/product/2822	1	$0.95
8GB SD Card	https://www.adafruit.com/product/1294	1	$9.95
Adafruit DRV8871 DC Motor Driver Breakout Board	https://www.adafruit.com/product/3190	4	$7.50
Zero Spy Camera for Raspberry Pi Zero	https://www.adafruit.com/product/3508	1	$19.95
OpenROV IMU/Compass/Depth Module	https://store.openrov.com/products/openrov-imu-depth-module	1	$120.00
Water level or salinity sensor module	http://www.elechouse.com/elechouse/index.php?main_page=product_info&cPath=&products_id=2233	1	$4.99
		Total	$168.34

Software:

Latest Raspbian image
[RPi Web Cam Control Interface]
Adafruit Python libraries for sensors
Customizations of software
Remote server for SSH tunnel to serve data to user

Simple setup (pre-built image):

Grab the image from [link].
Use [Etcher] to burn the image to an sd card.
Open wpa_supplicant.conf on the image and configure your network settings. See step 4 from the "Build from Scratch" section.
Save the file, and eject the SD card.
Insert the SD card into the Raspberry Pi.
Power on laptop and connect to mobile hotspot.
Connect Raspberry Pi to power source and laptop.
Run [init scripts]

Build from scratch:

Preparing the image:

Download latest Raspian image from Raspberry Pi's site [https://www.raspberrypi.org/downloads/raspbian/].
Burn the image to SD card using Etcher [https://etcher.io/] or Win32DiskImager[https://sourceforge.net/projects/win32diskimager/].
1. Steps:
Skip steps [#] to setup internet over USB instead.
Create a file wpa_supplicant.conf (ignore filetype change warning). You can edit this file with Notepad.
Paste the following into the file, substituting WIFI NAME and WIFI PASS for the network you're using. (NOTE: only works with networks that don't require logging in, and be on the same network as the computer. Make sure your uppercase and lowercases, as well as punctuation is correct):

ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=US

network={
	ssid="WIFI NAME"
	psk="WIFI PASSWORD"
	scan_ssid=1
}

Move the wpa_supplicant.conf file to the SD card. DO NOT RUN A REPAIR WHEN WINDOWS COMPLAINS. The correct drive should be named boot.
Duplicate wpa_supplicant.conf on the SD card. Open it and replace all text with a single space, then rename the file to ssh without any file extensions.
To setup and connect the Raspberry Pi Zero to the internet over USB:
1. https://learn.adafruit.com/turning-your-raspberry-pi-zero-into-a-usb-gadget/ethernet-gadget [expand]
Install SD card into Raspberry Pi and plug it in. Give it a few minutes to boot fully.
Download and install Advanced IP Scanner from [https://www.advanced-ip-scanner.com/]. To use this program to find the IP address of the Raspberry Pi:
1. Launch program and select the button with C (tooltip: Subnet of class "C" will be scanned)
2. Hit the Scan button to begin finding devices on the current network. Find the IP address of the Raspberry Pi in the list.
3. Remember this IP address
Download PuTTY from [link].
In PuTTY input pi@IP_ADDRESS, replacing IP_ADDRESS with the IP found in the previous steps to log into the Raspberry Pi console.
Enter raspberry for the password.
Copy sudo raspi-config and right click to paste, then press enter to run. Use arrow keys to choose menu options, tab to select buttons, and enter to select:
1. Go to [Interfacing]
2. Enable Camera, I2C, SSH
Run sudo apt update && sudo apt -y upgrade && sudo apt -y dist-upgrade && sudo rpi-update
Reboot the Pi by typing sudo reboot.

Installing dependencies:

Run sudo apt install -y git python-smbus python-pip build-essential python-dev
Run:

git clone https://github.com/silvanmelchior/RPi_Cam_Web_Interface.git #Software bundle to easily use the Raspberry Pi camera module
git clone git://git.drogon.net/wiringPi 	#Software to control output to General Purpose Input Output pins on the Raspberry Pi
git clone https://github.com/johnweber/Adafruit_Python_BNO055	#Python library customized to allow interfacing with the orientation sensor over the I2C interface, works around the hardware driver bug that the Raspberry Pi has
git clone https://github.com/bluerobotics/ms5837-python.git	#Python library for using the pressure/temperature sensor

Begin install of the RPi Camera Web Interface:

cd ~/RPi_Cam_Web_Interface
./install.sh

A configuration will pop up. User arrow keys to choose menu options, tab to select buttons, and enter to select:
1. Under [folder] type cam.
2. Under [server] delete apache and type [lighttpd]
3. Under autostart type [no].
4. Press enter to save everything and finish installation.
5. Select [no] as we don't need to start the camera just yet.
Install wiringPi:

cd ~/wiringPi
git pull origin
./build

Setup I2C over GPIO
1. sudo nano /boot/config.txt
2. Use arrow keys to navigate to the very bottom and add the line dtoverlay=i2c-gpio,i2c_gpio_sda=<pin>,i2c_gpio_scl=<pin>. Edit the two <pin> numbers to the correct SDA and SCL pins used. It should be [###] and [###] accoding to the diagram.
3. Press CTRL+X to begin saving the file, press Y to accept the filename, and press ENTER to exit nano.
4. sudo reboot to reboot the Raspberry Pi.
5. modprobe i2c-dev to finish the setup.
Install BNO055 sensor:

cd ~/Adafruit_Python_BNO055
sudo python setup.py install

Testing all the modules:

Test the camera:
1. cd ~/RPi_Cam_Web_Interface
2. ./start.sh to turn on the camera.
3. On your computer, open a browser and type http://[raspberrypi ip address]/cam/min.php
4. There should be a live feed.
5. ./stop.sh to turn off the camera.
Test wiringPi (motors):
1. gpio readall will print a diagram of all the pins on the Raspberry Pi.
2. If motor is connected:
  1. gpio mode <pin> out once for each data pin of the motors being tested.
  2. gpio write <pin> 1 will enable the motor to turn. Run gpio write <pin> 0 to turn off motor.
  3. gpio unexportall to finish testing.
Test the BNO055 sensor:
1. cd ~/Adafruit_Python_BNO055/examples
2. python simpletest.py This should show a live steam of data about the sensor. Move the sensor module around to see if it's working.
3. Press CTRL+C to quit the program.
Test the ms5837 sensor:
1. cd ~/ms5837-python
2. python example.py

Configuring the server:

WIP Steps:

Create index.php in /var/www
sudo lighttpd-enable-mod cgi
sudo lighttpd-enable-mod fastcgi
sudo nano /etc/lighttpd/lighttpd.conf
1. Change the line server.documet-root="/var/www/html" to read "server.document-root="/var/www/".
2. In server.modules = () add "mod_cgi",.
sudo /etc/init.d/lighttpd stop
sudo /etc/init.d/lighttpd start

taotien / SSROV