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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