/RaspberryPi-Minikame

Contains the code to use Minikame using a raspberry pi

Primary LanguageJava

RaspberryPi-Minikame

Contains the code to use Minikame Mk2 using a raspberry pi

Required Components

  • Raspberry Pi
  • Arduino
  • 3D Printed Parts
  • 8 Servo Motors from: Amazon

3D Printing

Quantity File
1 body_base.stl
1 body_top.stl
2 leg.stl
2 hips.stl
1 body_shafts.stl

Thingiverse

Required Software

Download the Arduino IDE Linux-ARM version on your Raspberry Pi

Pre-Assembly Software and Hardware Check

Serial Communication Check (optional)

  1. Upload the "PiArduinoCommunicationTest.ino" which is in "RaspberryPi-Minikame/Pre-Assembly Checks/Serial Communication Check/" to your Arduino Board.
  2. Open a new terminal on your Raspberry Pi and execute the following:
sudo apt-get update 
sudo apt-get upgrade
git clone https://github.com/LakshBhambhani/RaspberryPi-Minikame.git
cd RaspberryPi-Minikame/Pre-Assembly Checks/Serial Communication Check/
sudo python pi_duino.py

Open the serial Monitor on the Arduino IDE and check for "hi" and "hello" being printed

Server Check (optional)

  1. On the same terminal as before execute the following:
cd ..
cd Server Check
sudo python weblamp.py

Now if you load the URL on browser, you should see a weblamp control page. Your URL would be the IP address of your raspberry pi. Ex: 192.168.0.36

Homing all Servos (MUST-DO)

Number your servos and upload the following code to arduino to home your servos. Remember: Each servo has been set to a different home location. So each one has a different use and cannot be mixed up randomly later.

Link to HomingServos.ino Code

Assembly

Installation of servos on the main body

Watch the video

Assembling the Legs

Watch the video

Joining the Legs and Base

Watch the video

Wiring

Connect the Raspberry Pi to Arduino using a USB cable

Connect the Servos using the following port numbers:

FL_HIP = (4);

FL_FOOT = (5);

FR_HIP = (6);

FR_FOOT = (7);

BL_HIP = (8);

BL_FOOT = (9);

BR_HIP = (10);

BR_FOOT = (11);

The Server

Execute the following in your terminal to get your server up and running. For now, you might have to execute the server python file each time your pi reboots. V2 of RaspberryPi-Minikame should get rid of that

cd RaspberryPi-Minikame
cd Server
sudo python quad.py

The Arduino Code

Use this code: "ArduinoQuadruped.ino" Link to Quadruped Robot code

Raspi Quadruped App

You can either modify the app for yourself using the files in the App Folder or use the default provided apk
Alternatively, you can also use the files for IOS app, clone it in Xcode and run and install it on your phone

ENJOY!!

Remember: To use it, run the server and keep your serial port of your arduino application on rpi on