Samples for robotics, node, python, and bash.
Currently designed to act as programmable sentry. ? control : RPI_0w using NodeJs server to access GPIO Python code ? movement : 4 MG995 Servos, 2 subMicro Grippers & HS55 Servos, PCA9685 I2C Controller ? sensing : RPI 2.1 Camera, Insiq Bluetooth Speaker, Microphone MI-305 ? travel : Tamiya Track, Double Gearbox, 2 F130 DC Motors, L293D ? added : 10 mm color LED, USB mini microphone ? power : rechargeable TL-PB 10400 & TL-PB 5200 mAh Powerbanks Explores various bare metal programming technologies. Future plans include: ▶️ completion of the I2C servo operation ▶️ VAC (Voice Activated Commands) for more autonomous response ▶️ simple AI NLP for generalized communication ▶️ ESA AstroPi SenseHat for environment detection The descriptions below show the most recent developments first.
robot 3 / replaced Steppers with Servos
- control: PCA9685 16 Channel 12-Bit PWM Servo Motor Driver
- servos: (4) Servo Motor, PN: MG995
- speaker: USB Bluetooth Speaker Insiq PN: 4326595940 ? (upgrades BT3500SLV)
- servos: (2) Hitec subMicro Servo motor, PN: HS55 ? (upgrades HS300)
- grippers: (2) Actobotics subMicro Gripper Kit, PN: 637104 ? (upgrades "A" Grippers)
The SketchUp 3D drawing required only new Flange & Gripper drawings.
All the other components were accessible online.
steppers: (4) Stepper Motor 28BYJ48 ? (later removed)
control: (4) ULN2003 Driver Board ? (later removed)
The Steppers were compact, but required too many GPIO leads for a RPI 40 pin J8 form factor.
Some website discussions implied that the RPI timing is not reliable enough for many I2C protocol calls.
robot 2 / added camera, grippers
- camera: RPi Camera v2.1 with 8 Megapixel & 1080p resolution, PN: 2.1
- speaker: GearHead Bluetooth Speaker, PN: BT3500SLV
- microphone: USB mini microphone, PN: MI-305
- light: 10 mm color LED
- battery: TPLink PowerBank 10400 mAh, PN: TP-PB10400 ? (upgrades 4 AA batteries)
- grippers: (2) Actobotics Horizontal Gripper Kit "A", PN: 637094
- servos: (2) HiTec Servo motor, PN: HS300, with C24T or H25T spline
The Grippers and Speaker worked, but proved to be clunky.
The LibreCad 2D CAD representation with BOM.
robot 1 / travel control via SmartPhone
- computer: RPi0WF 1.1 SOC with BCM2835 cpu
- control: L293D Controller DriveShield
- gearbox: Tamiya Double Motorized Gearbox, PN: 70168 with (2) F130 DC Motors
- chassis: Tamiya Tracked Vehicle Chassis, PN: 70108-1500
- battery: TPLink PowerBank 5200 mAh, PN: TP-PB5200 (for RPi)
- battery: (4) AA batteries in case (for motors)
The RPi operates the L293D thru GPIO ports using Python PWM code signaled by a NodeJS server.
os base: Raspbian, Bash, Putty, WinSCP, GitHub...
control: Python & IDLE for DC motor PWM control
drawing: LibreCad 2D CAD, Sketchup 3D
The L293D Controller pinout diagram.