The api for child ducks to interact with the mother duck.
The api will be hosted on the mother duck, which will be setup as a wifi router, child ducks will connect to the network provided by the mother duck and communicate over the api.
poetry run uvicorn duck-api.api:app- We'll need an event processor that processes requests,
/forwardshould submit a request to move forward, etc. - Requests should be processed serially, we don't want concurrent movement requests to cause the robot to enter some invalid state (motors stuck on, etc).
- Thus there should probable be an endpoint to clear all requests and if there is a currently running movement request, clear the current request and stopping the duck.
- Receive coordinates and compass directions from child ducks
- Transmit coordinates and compass directions to child ducks
- gps: https://learn.adafruit.com/adafruit-ultimate-gps-on-the-raspberry-pi?view=all
- gpio: https://github.com/metachris/RPIO
- motor controller: https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-pwm-h-bridge/
Submodules of the program, and what they will have to do.
- Transmits the position of the mother and child duck to all other ducks
- If all ducks are using a RPI then each duck just needs to know the coords of at least the mother duck, and decides what to do itself.
- Streams video and audio to an online video feed
- The duck will play audio streamed/ sent to it (on every duck or just the mother duck?)
If we're using a distributed BT5 system where not all ducks may be connected to eduroam but hopefully atleast one is, and all ducks are interconnected through bluetooth, we will need a system to have the ducks distribute commands issued to the entire fleet & ensure each duck has seen the command.
We will also need a system that takes action to recover from when a duck has lost connection with all other ducks & eduroam, this could be something like having all ducks track the location of all other ducks, and have ducks regularly ping the entire swarm (ducks would relay pings), when a duck hasn't been seen pinging after a period of time, then the closest few ducks should attempt to seek the last known position of the missing duck in attempt to regain connection.
The ducks will roam autonomously until swarm mode is engaged, there should be a system that makes the ducks act like real ducks until they receive a command from the command distribution system to swarm to the mother duck.
From the AI & Swarm mode systems, the ducks will need to be able to generate a path to get them to a desired location, using their current position and a system of waypoints on campus paths (we'll need to come up with something to generate this map of waypoints).