/eurobot2020-main

The main robot code written in python for eurobot2020 contest

Primary LanguagePython

eurobot2020-main

installation

  • install I2c tools to get i2cdetect utility

  • sudo apt install -y i2c-tools

  • install gpiozero: apt install -y python-gpiozero

  • Install node >= 10 with this bash script

    • wget https://github.com/retrobox/console-modules/blob/master/v3.06/installnode.sh && ./installnode.sh && rm installnode.sh

  • Install arduino-cli:

    • Go to release page of arduino-cli repository on GitHub
    • Choose binary file & wget this binary file
    • Extract binary from archive
    • Copy the binary to a dir contained in path (/usr/bin for example)
    • For example with raspberry pi on armv7:
      • cd ~
      • wget -O arduino-cli.tar.gz https://github.com/arduino/arduino-cli/releases/download/0.9.0/arduino-cli_0.9.0_Linux_ARMv7.tar.gz
      • tar -xf arduino-cli.tar.gz
      • mv arduino-cli /usr/bin
      • rm arduino-cli.tar.gz

  • Install AccelStepper lib arduino-cli lib install AccelStepper

  • Install LiquidCrystal_PCF8574 lib arduino-cli lib install LiquidCrystal_PCF8574

  • Install lib udev sudo apt install -y libudev-dev

  • Install lib usb sudo apt install libusb-1.0

  • Follow installation guide for serialport node.js lib

  • Install TFMINI

    • run raspi-config > interface
      • say no to access the login prompt by serial
      • say yes to access the serial interface
    • working code
    • edit /boot/cmdline.txt
      • dwc_otg.lpm_enable=0 console=tty1 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait
    • edit /boot/config.txt, add the following line:
      • dtoverlay=pi3-miniuart-bt
    • docs
    • pip3 install pyserial
    • base tutorial
    • White = TX
    • Green = RX
    • only need RX

Python installation

  • pip3 install -r ./requirements.txt
  • pip3 install PyEventEmitter && pip3 install adafruit-pca9685 && pip3 install websocket-server

Library used

dualshock via node

  • PyEventEmitter
  • websockets

Architecture

  • interface hardware-software pour l'assemblage ascenseur

    • ouvrir pince
    • fermer pince
    • niveau supra eceuil
    • niveau attrape eceuil
    • niveau depilage rat/bas
    • niveau depilage haut
    • init pince
      • go to direction and click with end switch
      • close pince

  • interface hardware-software pour l'assemblage tiroir

    • sortir tiroir
    • rentrer tiroir
    • init tiroir
      • go to endswitch

  • routine attraper goblet (une routine par ascenseur)

    • si il est pas au bon niveau, se mettre au niveau haut
    • ouvrir pince
    • descendre au niveau eceuil
    • fermer pince
    • se mettre au niveau haut

  • routine dĂ©piller (une routine par ascenseur)

    • s'il il n'est pas ouvert, ouvrir le tiroir
    • s'il il est pas au bon niveau, se mettre au niveau depiller bas
    • ouvrir pince
    • se mettre au niveau depiller haut
    • fermer pince
    • fermer squeezer
    • se mettre au niveau deplier supra haut
    • ouvrir squeezer
    • (ranger tiroir)

Communication protocol via Serial:

  • 0: Drawer stepper

  • 1: Left/Front Elevator

  • 2: Right/Back Elevator

  • positiveDirection: if true, step are positives

  • STEPPERS

    • GO_TO_ORIGIN(int stepperId, bool positiveDirection)
    • GO_TO(int stepperId, int position)
    • DISABLE_ALL()

  • LED

    • SET_FLASHING_MODE(array pulses)
    • DISABLE()

  • BUTTON (will receive an event when button at falling edge of the push button: with the time)

    • ENABLE()
    • DISABLE()

  • SCREEN

    • SET_FIRST_LINE()
    • SET_SECOND_LINE()
    • CLEAR()
    • ENABLE()
    • DISABLE()

bluetooth

rfkill unblock bluetooth

TODO

  • disable feature on elevator
  • disable elevator until go to origin to prevent steps jumps

_note for recovery system

tmpfs /python-recovery tmpfs nodev,nosuid,size=2M 0 0