Predictive Processing for Lego BrickPi3 robots
Setup:
https://www.ev3dev.org/downloads/
https://github.com/resin-io/etcher#debian-and-ubuntu-based-package-repository-gnulinux-x86x64
http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#input-ports
http://docs.ev3dev.org/en/ev3dev-stretch/andy.platforms/brickpi3.html
Enable BrickPi
Uncomment: dtoverlay=brickpi3
Enable sound by editing config.txt in EV3DEV_BOOT on the sd card
Uncomment: dtparam=audio=on
https://www.ev3dev.org/docs/tutorials/connecting-to-ev3dev-with-ssh/
https://www.ev3dev.org/docs/tutorials/setting-up-wifi-using-the-command-line/
To connect:
> ssh robot@ev3dev.local
> ssh robot@andy.local (latest)
password: maker
Before doing use apt-get:
> sudo apt-get update
To update the brickpi3 firmware:
> sudo update-brickpi3-fw
If you use asdf to install erlang and elixir, first do:
> sudo apt-get install build-essentials
> sudo apt-get install autoconf
> sudo apt-get install libncurses5-dev
> sudo apt-get install libssl-dev
To install Erlang and Elixir via asdf:
Install asdf -- See https://asdf-vm.com/#/core-manage-asdf-vm
> echo -e '\n. $HOME/.asdf/asdf.sh' >> ~/.bashrc
> echo -e '\n. $HOME/.asdf/completions/asdf.bash' >> ~/.bashrc # optional
> source ~/.bashrc
Then:
> asdf plugin-add erlang
> asdf plugin-add elixir
> asdf install erlang 21.2.2 # Any OTP 21 version should work
> asdf install elixir 1.8.1-otp-21
> asdf global erlang 21.2.2
> asdf global elixir 1.8.1-otp-21
To get the source code for Andy on the Raspberry Pi:
> git clone https://github.com/jfcloutier/andy.git
> cd andy
> mix deps.get
> mix compile
To update the source code:
> git checkout master
> git pull
To reset the robot (erase its accumulated experience)
> rm memory.dets
To launch on the robot:
> ANDY_SYSTEM=brickpi ANDY_PLATFORM=rover ANDY_NAME=andy; iex -S mix
To stop the robot and retain newly acquired experience:
> Andy.shutdown
To pause and resume the robot:
> Andy.Clock.pause
> Andy.Clock.resume
To test on PC with mock rover named karla, with a scottish female voice and starting on tile row:
> export ANDY_PLACE='3,3,0';export ANDY_VOICE='en-scottish+f5';export ANDY_PLAYGROUND='playground@system76-pc';iex --sname karla --cookie 'predictive processing' -S mix
> export ANDY_PLACE='2,15,-30';export ANDY_VOICE='en-us+m1';export ANDY_PLAYGROUND='playground@system76-pc';iex --sname andy --cookie 'predictive processing' -S mix