pibot

• Abstract
  • Puppet mode using Dualsense
  • A depth of field capable rover can scan a house interior
    • rover
      • how to control a movable vehicle using code?
      • what counts as a robot?
      • code control
        • debug/dummy control
        • remote control
          • gamepad
        • autonomy
          • slam using depth of field
  • BOM
    • sourcing from mexico
  • Key blackboxes
    • drive motors using motor hat
    • drive oled screen using stemmaqt
    • read gamepad
      • more difficult than I thought, had to create custom parser using jstest
  • Features
    • Dual controllers
      • rover
      • camera
    • Depth of field
      • intellisense?
    • Oled display
      • emotion
        • eyes
        • articulated?
          • 2 servo control
          • https://github.com/sashimizakana/node-pi-servo
      • debug
        • ip
        • wifi setup
        • gamepad
        • ram
  • Architecture ideas
    • Robotics are about orchestrating a symphony of async messages
    • State based tree
    • use elf to keep track of input/sensors
    • main app builds component tree
      • each component has a state
        • gamepad.state.axes.joyr.x
        • rover.update({target_vector: angle, magnitude})
      • The Loop
• Hardware
  • pi
    • install os 64
      • ssh
      • wifi
      • ctrl-x
      • user
    • ssh into pi
    • update
    • upgrade
    • raspi-config
      • i2c
      • partition size
      • terminal autologin
  • oled
    • cable mod
    • pi io pins
    • stemmaqt, quick
    • ctontab -e:
      • @reboot /home/toy/code/pibot/run-oled-boot-screen.sh &
  • MotorHat
    • M1-4 all DC motors direct connection
  • Power
    • 12v input for motor
    • 5v regulator for pi
    • solder to io pads
    • Dev mode usb power cable
• Setup
  • Dev:
    • Pi code-server:
      • mutagen forward create --name=code-server tcp:127.0.0.1:8080 <instance-ip>:tcp:127.0.0.1:8080
  • Bot:
    • Dualsense:
      • bluetooth setup:
      • chmod -R a+rwx /var/lib/bluetooth
      • chown -R pi:root /var/lib/bluetooth
      • bluetoothctl
        • discoverable on pairable on agent on default-agent
      • pair
        • bluetoothctl
        • pair mac
        • connect mac:address
        • trust mac:address
      • reboot and try again
      • test
        • apt-get install jstest-gtk
        • jstest /dev/input/js0
    • MotorHat
      • Enable i2c
        • raspi-config: interface
      • test i2c motor hat and oled:
        • sudo apt-get install i2c-tools
        • i2cdetect -y 1
        • 60, 70 and 3c