PyPiBot

A robot that is controlled by python on a raspberry pi. The build is rover-like, with four driven wheels.

Parts-List

Whenever available, detailed information and supplier-link are provided as pdf in the docs-folder.

• Raspberry-Pi B+ V2

• Edimax EW-7811UN Wireless USB Adapter

• Motors: 4x DC 6.0V, 35:1 gear ratio, diameter of shaft: 4mm

• Motor-mounts: 4x DROK 25mm universal dc motor mount

• Motor-driver: 2x L298 dual H-bridge modules

• Tires: 4x GoolRC 1:10 Drift Car Tires

• Tire-mount: 12mm Hex Wheel Adapter for 4mm shaft

Current hardware configuration:

Software

Basic module structure finished:

• Python mainloop with subprocesses for motor/sensor/worldmodel/reasoning control
• CAM: Sensing: camera + ultrasonic modules
• MEM: Worldmodel: 2D-map of environment
• BRAIN: Reasoning: Obstacle avoidance, object-tracking, self-loading and finding base
• MOT: Motor control: GPIO interfaced with motor-module, speed via PWM-implemention of pyGPIO

TODO:

• Define datatypes and interfaces (messages) for inter-process-communication
• Think about synchronization (in terms of time, perception/action cycle, etc.)
• How to organize perceptions, who marks them as read/removes them from the dictionary?
• Implement logging

Setup and Installation

Edimax WLAN-Stick has a power-save mode and goes to sleep, to avoid this:

sudo vim /etc/modprobe.d/8192cu.conf
options 8192cu rtw_power_mgnt=0 rtw_enusbss=0