Hexapod

TESTING: WORK IN PROGRESS

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Install Raspbian

• Download raspbian lite https://www.raspberrypi.org/downloads/raspbian/
• Download etcher https://etcher.io/
• Burn to SD card with etcher
• Enable ssh by creating an empty file called ssh in /mnt/sdc1/ folder of the BOOT disk. (i.e. /mnt/sdc1/ssh).
• Setup wifi by creating a file wpa_supplicant.conf in /mnt/sdc1/ folder of the BOOT disk. (i.e. /mnt/sdc1/wpa_supplicant.conf).

ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=US

network={
    ssid="SSID_NAME_HERE"
    psk="PASSWORD_HERE"
    key_mgmt=WPA-PSK
}

• Test ssh where hostname is the name you set earlier

ssh pi@hostname

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Update Raspbian system

• Login
  • user: pi
  • pass: raspberry
• Change User Passwords

sudo passwd pi
sudo passwd root

• Change config
  • Change Timezone
  • Change Hostname
  • Change keyboard
  • Change Boot Option: Boot to CLI (No GUI)
  • Load I2C Kernel Module

sudo raspi-config

• Update system packages

sudo apt-get update
sudo apt-get upgrade -y
sudo apt-get dist-upgrade -y

• Install Build Essentials & GIT

sudo apt-get install -y build-essential git

• Install Useful Tools (Optional)

sudo apt-get install -y htop iotop nmon lsof screen

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Install nodejs (works on pi zero)

• Install packages

wget https://nodejs.org/dist/v8.7.0/node-v8.7.0-linux-armv6l.tar.gz
tar -xvf node-v8.7.0-linux-armv6l.tar.gz
cd node-v8.7.0-linux-armv6l
sudo cp -R * /usr/local/
cd ..
rm node-v8.7.0-linux-armv6l.tar.gz
rm -r node-v8.7.0-linux-armv6l
sudo reboot

• Add to the end of ~/.profile

PATH=$PATH:/usr/local/bin

• Update Node Package Manager (NPM)

sudo npm install npm@latest -g

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Install PS3 controller (SHANWAN/PANHAI Clone)

• Compile and install patched version of bluez

sudo apt-get install -y libgtk2.0-dev libdbus-1-dev libudev-dev libical-dev libreadline-dev
git clone https://github.com/luetzel/bluez
cd bluez
./configure --prefix=/usr --mandir=/usr/share/man --sysconfdir=/etc --localstatedir=/var --enable-sixaxis
make -j3
sudo make install

• Install sixad manager and sixpair

sudo apt-get install -y pyqt4-dev-tools qt4-designer libjack-dev
wget http://downloads.sourceforge.net/project/qtsixa/QtSixA%201.5.1/QtSixA-1.5.1-src.tar.gz
tar xvfz QtSixA-1.5.1-src.tar.gz
cd QtSixA-1.5.1
wget https://launchpadlibrarian.net/112709848/compilation_sid.patch
patch -p1 < compilation_sid.patch
make
chmod 755 utils/bins/sixpair
sudo cp utils/bins/sixpair /usr/local/bin
sudo reboot

• Connect PS3 controller with USB to PI

sudo sixpair

• Disconnect the USB cable. Press 'PS' button to pair. If the pairing is successful, only LED1 remains ON.

• Verify/Debug controller is connected

sudo jstest /dev/input/js0

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Install dualshock

• Install dependencies

sudo apt-get install -y libusb-1.0-0 libusb-1.0-0-dev
npm install -g node-gyp node-pre-gyp

• Create udev rules. Create the following file in /etc/udev/rules.d/61-dualshock.rules

sudo vi /etc/udev/rules.d/61-dualshock.rules

SUBSYSTEM=="input", GROUP="input", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="0268", MODE:="666", GROUP="plugdev"
KERNEL=="hidraw*", SUBSYSTEM=="hidraw", MODE="0664", GROUP="plugdev"

SUBSYSTEM=="input", GROUP="input", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="05c4", MODE:="666", GROUP="plugdev"
KERNEL=="hidraw*", SUBSYSTEM=="hidraw", MODE="0664", GROUP="plugdev"

• Run in project directory after dualshock-controller is installed

npm install node-hid --driver=hidraw --build-from-source

Install I2C Module for PCA9685

• Install dependencies

sudo apt-get install -y python-smbus i2c-tools

• Add the following to /etc/modules

sudo vi /etc/modules

i2c-dev 
i2c-bcm2708

• Reboot and verify installation

sudo reboot
sudo i2cdetect -y 1

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Reference Links

• http://pi4j.com/pins/model-zero-rev1.html
• https://github.com/cncjs/cncjs/wiki/Raspberry-Pi-Setup-Guide
• https://caffinc.github.io/2016/12/raspberry-pi-3-headless
• https://raspberryblog.de/?p=1870&page=2
• https://github.com/rdepena/node-dualshock-controller
• https://learn.adafruit.com/adafruit-16-channel-servo-driver-with-raspberry-pi

Installing on/off button (NOT WORKING YET)

https://github.com/TonyLHansen/raspberry-pi-safe-off-switch or https://howchoo.com/g/mwnlytk3zmm/how-to-add-a-power-button-to-your-raspberry-pi

Pin Info https://github.com/nebrius/raspi-io/wiki/Pin-Information

sudo apt-get install -y python3-gpiozero python-gpiozero