arm-control

Intro

This is only designed to work with my unique hardware set up which ]](*consists of six PWM servos connected to an external PCA9685, which is connected to the I2C bus on pins 2/3 of the raspberry pi 2B

Prereqs

Kernel headers must be installed to build kernel module device-tree-compiler must be installed to build dts gcc toolchain must be installed to build kernel and userspace

Instructions

Building

cd dts
make
cd ../kernel
make
cd ../user
make

Use

sudo dtoverlay dts/robot.dtbo
sudo insmod kernel/servo.ko
sudo chmod 666 /dev/robot
user/sweep <idx> [<angle>]

Photo