A raspberry pi zero, the Main Computer, calculates state, balance and dynamics. A pi pico is the low level motor controller and sensor reader.
Download the repo to a raspberry pi zero (or another SBC).
Requirements:
- C++ 17
- cmake 3.16
- Eigen 3.4.8
- python 3.7
- rapidxml
- googletest 1.10
- wiringPi (
apt-get install libwiringpi-devto build on ubuntu) - MPU6050 pico code: https://github.com/NirajPatelRobots/pico-examples
To develop for pico on a non-pi computer: https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf
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To develop for pico on the Zero, go to https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf Chapter 1 "Quick Pico Setup"
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In the microcontroller/ directory, build the pico program:
mkdir microcontroller/build export PICO_SDK_PATH=~/pico/pico-sdk/ cp ~/pico/pico-sdk/external/pico_sdk_import.cmake microcontroller/ cd microcontroller/build cmake .. make -
Unplug the pico, then hold down the BOOTSEL button on the pico. Plug in the pico and keep the button held down until the green light on the zero stabilizes.
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Check the pico is connected, then load the built .uf2 file onto the pico:
sudo picotool info -a sudo picotool load <name>.uf2 -v -x
To read output from printf, use USB. Can change to UART in CMakeLists.txt.
minicom -b 115200 -o -D /dev/ttyACM0 to listen to the output. To exit minicom, use CTRL-A followed by X.
In the simplewalker/build folder of the repository, run
cmake .. # once, to set up cmake
make simplewalker
cd ..
build/simplewalker
to make and run the main program.
The built executables are simplewalker, test_localization, unittests, and collect_sensor_cal_data.
collect_sensor_cal_data saves files in data/stationary_calibration_[number].log.
Copy these to the base computer and run sensorAnalysis.py on them to get sensor calibration values.
Niraj made this