SailingBoat

Project application for the "Programkonstruktion och projekthantering" (also known as the PoP kurs) course at Åland Polytechnic.

Components

More info this link

• PC - Raspberry Pi 3 WiFi
• Boat - RC Laser
• Receiver - Futaba
• Controller - Futaba
• Switch - RC Switch
• Servo Controller - Maestro
• Servo - Futuba
• GPS - GlobalSat
• Compass - CMPS12
• Converter - Turnigy 40V 5A
• Batteries - Turnigy 11V 500mAh

Diagram

Hardware scheme this link

Getting Started

This guide will configure your Raspbian installation, install the much needed scripts and finally building the project and starting it up.

Prerequisites

Make sure you have installed Raspbian on your Raspberry Pi and gone through the raspi-config application provided by Raspbian.

Step 1: Install required packages

Just use this command to install most required packages.

sudo apt install i2c-tools gpsd libgps-dev libboost-all-dev curl libglm-dev

The last package needed is WiringPi, you can clone the WiringPi repository and build that from source.

Start by cloning the repository:

git clone https://github.com/WiringPi/WiringPi

Go into the directory and write:

./build

and that will build the library and you will be able to use WiringPi as a library when compiling.

Step 2: enable RPi Interfacing Options

There are several services which is required to be enabled in order for the RPi to function with the code, as well as with the hardware, and those services are:

- SPI
- I2C
- Serial
- SSH

All of these can be enabled through raspi-config under Interfacing Options

Step 3: Install services & Misc

Inside the scripts/ directory, you will find install-services.sh, run this file once, as sudo.

In order to have everything set-up for the application, you will also need to run install-config-and-logs.sh for certain log and settings folders and files to be added into .config/

Step 4: Build and run

Before any sort of build, you should always make sure that the repository you have cloned is up-to-date, so start by doing git pull so the latest version is pulled from github.

Following that, you should build it:

make -j$(nproc)
sudo make install

this will build the application and install it to /usr/local/bin so now all that's needed is to run the application as sudo like this:

sudo sailingBoat

Code comments

Sailing formula used: https://www.ensta-bretagne.fr/jaulin/paper_jaulin_irsc12.pdf

When viewing doxygen documentation, open up index.html

Optional add-on

Front-end can be used as a front-end for logs and adding coordinates to the application if you use a HTTP server that can handle the requests and the current one used is this.

License

This application is licensed under MIT.