Source code and associated files for OptimusPi - My PiWars 2015 entry
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This is the source code that will be used for my PiWars 2015 entry 'OptimusPi'.
Currently OptimusPi is a scratch built robot made from plywood and some pieces
of plastic piping to hold the motors. The brains is, of course, a Raspberry Pi
(currently a Model A+) with an Arduino being used as a motor controller (Its
responsibilities may be expanded upon later).

Remote control of the robot is planned to be  via a Sony PlayStation 3 DualShock controller, 
connected via BlueTooth to the Raspberry Pi.

Autonomous control will be dealt with by a variety of sensors.


Raspberry Pi
 - Flash SD Card with Raspbian NoX image (
 - Expand file system, enable i2c and change device name to OptimusPi via raspi-config
 - sudo apt-get update
 - sudo apt-get upgrade
 - Instal PiGPIO library (
 - Install i2c tools (sudo apt-get install i2c-tools)
 - Add i2c-dev to /etc/modules

 - Install libevdev
   Currently this isn't in the repository so we need to run
   - wget
   - wget
   - sudo dpkg -i libevdev2_1.3+dfsg-1_armhf.deb
   - sudo apt-get install libjs-jquery
   - sudo dpkg -i  libevdev-dev_1.3+dfsg-1_armhf.deb

 - Install ArduiPi_OLED library (
 - Install GCC 4.9 (

 - Install GIT (sudo apt-get install git)
 - Check out repository (git clone
 - Build source
   cd OptimusPi
   mkdir build
   cd build
   cmake -D CMAKE_CXX_COMPILER=g++-4.9 -D CMAKE_C_COMPILER=gcc-4.9 ../src/

 - Install support for PS3 controller (Article in
 - Install pygame for tests (sudo apt-get install python-pygame)

 Additional Hardware
 - Lindy USB Bluetooth & HS WLAN 11n Combo Adapter

 - Download and install the Pololu Dual VNH5019 Motor Driver library (