Raspberry pi robot using
- RPIO
- RPi.GPIO
- pigpio
- pyyaml
- Raspberry pi 2b
- 2 V-tec 6v 177 RPM DC motors (https://eckstein-shop.de/V-TEC-6V-Mini-25D-DC-Motor-Getriebe-Motor-Stirnradgetriebe-mit-Encoder-177-RPM-EN)
- 2 Pololu Wheel 90×10mm Pair - Black
- SN754410 H-bridge for DC motor control
- Castor/ ball wheel
- 2 Hitec HS-422 180 degree servo's with pan-tilt set
- Raspberry pi v2 camera mounted on pan-tilt set
- 3 HC-SR04 sonars, 1 mounted on pan-tilt set, 2 mounted at front at a 20°.
- Xiaomi 10000 mAh powerbank for rpi
- 3300 mAh NiMh battery for servos / dc motors
- 2 Pinout boards
- Pinout cables
- Activate ssh for RPI in config
- Set password and remember it
- Connect pc and rpi to same network.
- Get IP of RPI from modem, or nmap. For nmap:
- on pc/laptop: ifconfig, write down inet addr under wlan0, or (eth0 if connected with cable).
sudo nmap -sP ip_address_you_wrote_down/24- returns a list of all devices connected to the network
- ssh pi@ip_rpi (try from list)
- sshfs pi@ip_rpi:/home/pi /home/tjalling/Desktop/rpi
In the case where the rpi freezes:
- On your laptop/pc do:
ps -ef - Search for the ssh thread: e.g.:
tjalling 11083 1 0 17:37 pts/0 00:00:10 ssh -x -a -oClearAllForwardings=yes -2 pi@ip_adress -s sftp - kill 11083
This should stop the mount and other stuff from freezing
#Todo
- Align motors (ticks per revolution)
- Make calibration method for motors
- Offline speech synthesis (espeak) on rpi
- Offline speech recognition (cmu sphinx) on rpi
- Connect / test MPU
- Connect pi camera to opencv / simplecv
- Build slam
- Add manual control option with Xbox controller
- Online/API speech synthesis (wave net)
- Online/API speech recognition (wave net)
- Monocular slam
- Mounted sonars / camera on head
- Write readme for sonars
- Tested distance sensors
- setup remote access
- Tested encoders
- Test new DC motors
- Extend robot frame for DC motors, balanced
- Mount wheels, DC motors, batteries
- Connected servos
- Tested servos
- Connected DC motors
- Tested DC motors
- Connected / tested speaker
- Connected / tested mic