gardengoat

Installation of raspberry pi

Install os + wifi

1. Download full raspberian at https://www.raspberrypi.org/downloads/raspbian/
2. Flash sd card
3. Create file "ssh" in boot directory
4. Connect pi to network
5. Set configs in sudo raspi-config a. Set wifi ssid+pwd b. Set host name to gardengoat
6. Clone this repository: git clone https://github.com/simeneide/gardengoat.git

Install gps module

1. Set the following in raspi-config:https://learn.adafruit.com/adafruit-ultimate-gps-hat-for-raspberry-pi/pi-setup

Installing motor driver

Following this instructions to install driver to motor:

1. Enable I2C: https://learn.adafruit.com/adafruits-raspberry-pi-lesson-4-gpio-setup/configuring-i2c
2. Install library: sudo pip3 install adafruit-circuitpython-motorkit

Other packages

• apriltags (https://pypi.org/project/apriltags/) (need apt-get update && apt-get install cmake)
• Installed by building here: https://github.com/AprilRobotics/apriltag

pip3 install jupyterlab apt-get install emacs

TORCH and TORCHVISION

Installed from wheel on these: https://github.com/nmilosev/pytorch-arm-builds

But for rpi4 there was some errors, so I installed a wheel after reading this comment: nmilosev/pytorch-arm-builds#4 (comment)

Install from his wheel a bit longer down the thread, and rename those _C..so and _d..so files to _C.so and _d.so.

Torchvision works, but Pillow 7.0.0 was too new, so downgraded to 6.1 after some random comments I found.

Step-by-step:

• sudo pip3 install torch-1.1.0-cp37-cp37m-linux_armv7l.whl

Then if you try to run sudo python3 -c "import torch" you get:

Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/usr/local/lib/python3.7/dist-packages/torch/__init__.py", line 79, in <module>
    from torch._C import *
ModuleNotFoundError: No module named 'torch._C'

Can be fixed by the following:

cd /usr/local/lib/python3.7/dist-packages/torch
sudo mv _C.cpython-37m-arm-linux-gnueabi.so _C.so
sudo mv _dl.cpython-37m-arm-linux-gnueabi.so _dl.so

Local Bluetooth keyboard

Using the python keyboard package and requires root to run. Advantage: You can drive the car locally without need for stable wifi.

Need to be connected and paired to the keyboard: Sometimes needs to be repaired:

bluetoothctl
remove 2C:33:61:E0:77:84
pair 2C:33:61:E0:77:84
connect 2C:33:61:E0:77:84

ps4 controller

Doesnt work yet..

sudo pip install pyPS4Controller

sudo pip3 install ds4drv

sudo wget https://raw.githubusercontent.com/chrippa/ds4drv/master/udev/50-ds4drv.rules -O /etc/udev/rules.d/50-ds4drv.rules sudo udevadm control --reload-rules sudo udevadm trigger