Robot

Raspberry pi robot using

Dependencies

• RPIO
• RPi.GPIO
• pigpio
• pyyaml

Parts:

• Raspberry pi 2b
• 2 V-tec 6v 177 RPM DC motors (https://eckstein-shop.de/V-TEC-6V-Mini-25D-DC-Motor-Getriebe-Motor-Stirnradgetriebe-mit-Encoder-177-RPM-EN)
• 2 Pololu Wheel 90×10mm Pair - Black
• SN754410 H-bridge for DC motor control
• Castor/ ball wheel
• 2 Hitec HS-422 180 degree servo's with pan-tilt set
• Raspberry pi v2 camera mounted on pan-tilt set
• 3 HC-SR04 sonars, 1 mounted on pan-tilt set, 2 mounted at front at a 20°.
• Xiaomi 10000 mAh powerbank for rpi
• 3300 mAh NiMh battery for servos / dc motors
• 2 Pinout boards
• Pinout cables

Remote connect to RPi

• Activate ssh for RPI in config
• Set password and remember it
• Connect pc and rpi to same network.
• Get IP of RPI from modem, or nmap. For nmap:
  • on pc/laptop: ifconfig, write down inet addr under wlan0, or (eth0 if connected with cable).
  • sudo nmap -sP ip_address_you_wrote_down/24
  • returns a list of all devices connected to the network
• ssh pi@ip_rpi (try from list)
• sshfs pi@ip_rpi:/home/pi /home/tjalling/Desktop/rpi

In the case where the rpi freezes:

• On your laptop/pc do: ps -ef
• Search for the ssh thread: e.g.: tjalling 11083 1 0 17:37 pts/0 00:00:10 ssh -x -a -oClearAllForwardings=yes -2 pi@ip_adress -s sftp
• kill 11083

This should stop the mount and other stuff from freezing

#Todo

Todo

• Align motors (ticks per revolution)
• Make calibration method for motors
• Offline speech synthesis (espeak) on rpi
• Offline speech recognition (cmu sphinx) on rpi
• Connect / test MPU
• Connect pi camera to opencv / simplecv
• Build slam

Todo (optional)

• Add manual control option with Xbox controller
• Online/API speech synthesis (wave net)
• Online/API speech recognition (wave net)
• Monocular slam

Done

• Mounted sonars / camera on head
• Write readme for sonars
• Tested distance sensors
• setup remote access
• Tested encoders
• Test new DC motors
• Extend robot frame for DC motors, balanced
• Mount wheels, DC motors, batteries
• Connected servos
• Tested servos
• Connected DC motors
• Tested DC motors
• Connected / tested speaker
• Connected / tested mic