The part of RobotPi which runs on the Pi.
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CMakeLists.txt
LICENSE.md
Makefile
README.md
read_pwm_sensor.sh
robotpi_socket.c

README.md

RobotPi

RobotPi-Server is a server application to control a robot. You can control it via the Android App or directly via telnet (port 2048). It is designed for the Raspberry Pi.

Prerequisites

For compiling RobotPi-Server you need:

How to compile

make

How to run

./robotpi_socket

Communication

Communication happens on port 2048 (configurable). All messages (to the server) contain four characters.

Servo: "Y" and then a three-digit number between 0 & 140.

Motors: two characters identifier what to do and then a two-digit number between 0 & 100.

Identifiers:

  • Forward left: FL
  • Forward right: FR
  • Backwards left: BL
  • Backwards right: BR
  • Forward: F0
  • Backwards: B0
  • Rotate left: RL
  • Rotate right: RR

Extra commands:

  • Reset all: 0000
  • Disconnect: C001
  • Auto: AUTO (currently not working great)
  • Test: TEST (do some dancing 👯 ; nope just some turning and stuff)
  • Distance: DIST (kinda working)

Photos

Photo 1 Photo 2 Photo 3

Connections

A H-Bridge is connected with the physical pins 35,37 & 38,40. The servo is connected on physical pin 12.