PSTOmni

Omnidirectional treadmill for VR - ESIEA PST project

This is the repository for the software that will power the platform.

Compiling

This project is intended to run on a raspberry PI.

It needs my fork of the vl6180x_pi https://github.com/Ybalrid/vl6180_pi and it the mma8451_pi https://github.com/Ybalrid/mma8451_pi libraries installed on the system.

Theses two repository contain a makefile, you just need to do

make
sudo make install

to install them. If this project cannot find them, you need to configure ld to find the libraries in the local directory (not enabled by default on Raspbian)

sudo echo /usr/local/lib > /etc/ld.conf.so.d/local.conf
sudo ldconfig

Hardware setup

Using the Raspberry Pi GPIO bus, 2 polulu ST VL6180x sensors, and one Adafruit MMA8451 plugged into the I2C bus.

• The MMA8451 has it's address pin jumped to ground
• On of the ST_VL6180x has it's chip enable pin pulled to ground, plugged into the GPIO4 pin of the Raspberry Pi

The creation of a sensorArray object intialize all the sensors.

Plans of the wooden platform will be released later.