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

• https://github.com/Pithikos/python-websocket-server
• https://github.com/orb/pygments-json

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 dépiller (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