A robot may not injure a human being or, through inaction, allow a human being to come to harm. A robot must obey orders given it by human beings except where such orders would conflict with the First Law. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.ADDY is a raspberry pi based robot with lot of wide features and modules associated with it few of them are: Wifi, Arm & Gripper, Speakers, 5mp PiCamera 1080p, USB microphone, L293D motor driver, Lights. Integrating all these modules I am trying to develop autonomous robot with features like track faces, objects, voice control, lift light weight things. Also, I have developed software to manually control the robot using pyqt4 package in Python. I went to Techfest 2015 at IIT-Mumbai for BLOCK WARRIOR competition with this bot.
Features:
- Control ADDY using any language: C/C++, JAVA, Python.
- Track and locate places using its camera which can be rotated 180 degrees.
- Connect to any device with internet connectivity for remote control.
- Webserver & Website on localhost/live to control ADDY( www.vslcreations.in).
- GUI & key controls for GPIO and its parts.
In, this tutorial I have written short steps to build a robot with all references and tutorial links because of time shortage.
Hardware Setup/Required
- 1. RaspberryPi B+ : To control ADDY and provide signals to GPIO for its I/P & O/P.
- Processor-Broadcom BCM2835 ARMv6, Chipset-HD multimedia app processor, 512MB SDRAM @400MHz, Storage-MicroSD, 4xUSB Ports, 1.8A@5V, 40GPIO Pins.
- 2. Gripper Module: For lifting blocks.
- 3. Power Bank: Intex PB-4K 4000mAH to power RaspberryPi 5V supply.
- 4. L293D IC: To control 2 single shaft motors @ 300rpm.
- 5. Speakers: To make ADDY interactive.
- 6. USB Wifi Adapter: For wireless control & internet connectivity.
- 7. Breadboard, Jumper Wires, LAN Cable, 16-Gb Micro SD Card, 8V DC Rechargeable Battery: Buy two 4V DC rechargeable batteries from any electrical shop.
- 8. 2 x 4 Base Wheel Drive(included 2 Single Centered Shaft Motors).
- 9. Pi Camera.
- 10. Pi Case.
Sponsor Link
This Project is Sponsored by UTSource.net UTSource is a professional electronic components online platform
You can assemble in any way but make sure that it holds all parts tight use tapes or glue-gun.
1. You can do some DIY stuff for robot body.
2. Make sure Pi camera get 180 degree flexibility to capture.
3. You must be able to attach/de-attach LAN and USB devices.
4. No part should touch wheels.
5. you can attach both batteries below the base plate using threads/wires to hold it tight.
Electronics Setup and wiring robot
Please check the GPIO-PIN numbers to connect.
PIN Numbers of GPIO to connect motors of wheel, gripper module and LED.
#WHEELS
Motor1A = 15 Motor1B = 13 Motor1E = 11
Motor1A = 15 Motor1B = 13 Motor1E = 11
Motor2A = 36 Motor2B = 38 Motor2E = 40
#ARM
ARM1A = 19 ARM1B = 21 ARM1E = 23
ARM2A = 16 ARM2B = 18 ARM2E = 22
#LED
LED = 37
Please Check this tutorial to make connections on breadboard using L293D IC: http://computers.tutsplus.com/tutorials/controlling-dc-motors-using-python-with-a-raspberry-pi--cms-20051
Software Setup/Configurations
To boot/set-up Raspberry Pi for first time:
- 1. Install Rasbian/Noobs: http://www.howtogeek.com/173101/how-to-enjoy-dead-simple-raspberry-pi-setup-with-noobs/
- 2. Install XRDP to connect rpi with your laptop: https://www.maketecheasier.com/enabling-remote-desktop-access-on-raspberry-pi/
- Type in terminal: sudo adpt-get install xrdp
- Check Status: /etc/init.d/xrdp status
- 3. Install wpagui to connect to your wifi: http://www.megaleecher.net/Raspberry_Pi_WiFi_Installation_And_Configuration_Guide#axzz45oJSwC91
- Double click desktop icon to start wpagui
- 4. Update and Upgrade your RPI.
- 5. Enable Camera & SSH Module of your RPi: http://www.modmypi.com/blog/installing-the-raspberry-pi-camera-board
Coding and Testing ADDY
I have some demo codes and keyboard control using Pygame in python
- 1. Install pygame: http://www.philjeffes.co.uk/wordpress/?p=259
- 2. Download ADDY Controller Software:
Pygame for keyboard control: https://github.com/vsl-tech/AddyControllerPygame
Tkinter for touch interfaces: https://github.com/vsl-tech/AddyControllerTkinter
*Make sure you download all files and install required packages. If you want to use your gripper module also you need to add 1 more Motor Driver to control 2 motors for ARM & GRIPPER
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