This is the robot-side code for implementing the HAMSTIR robot environments. The environments are designed to be run on the AIY Vision Kit, using the four outputs to drive two wheels with an H-Bridge.
To install, first update the SD Card from your AIY Vision Kit with the latest release.
Then follow the Vision Kit connection guide to connect to WiFi.
SSH into your Raspberry Pi to clone the project (if you haven't yet, change the password!):
git clone https://github.com/abefetterman/hamstir-driver
cd hamstir-driver
Copy the model from your computer:
scp ./outgraph.bp pi@raspberrypi.local:~/
Then you can test the model on the raspberry pi with:
python3 ./hamstir-driver/test.py --model_path ./outgraph.bp
And run the model directly with:
python3 ./hamstir-driver/drive.py --model_path ./outgraph.bp