autonomous-bittle

This repository holds the code and configuration for the autonomous swarm robotics project in the CMU-MAIL lab

Set up raspberry pi

1. Flash image using raspberry pi imager:
   • raspberry pi OS (Legacy) Lite Bullseye
2. On first Power up:
   • Select Keyboard layout
   • set pi as username, select password
   • Log in
3. Set up wifi:

   sudo raspi-config

   • Localisation Options
   • Set Timezone and WLAN Country
   • go to Advanced Options, set network config to use NetworkManager
   • go to system settings, enter wifi ssid and password
4. Set auto login:
   • 1. S5 Boot / Auto Login
5. Set up interface options
   • 3 Interface Options
   • Enable Legacy Camera support
   • Enable SSHago
   • I6 Serial port: Disable Login Shell, Enable Serial port hardware
   • Ensure one wire communication disabled
   • Enable remote GPIO pins
6. Reboot
7. Fix locale issues:

   sudo nano /etc/locale.gen

In file, uncomment line #en_US.UTF-8

sudo locale-gen

Set locale:

sudo update-locale LANG=en_US.UTF-8

Reboot

10. Install necessary packages:

sudo apt-get update

sudo apt-get install git

git clone https://github.com/PetoiCamp/OpenCat.git

git clone https://github.com/gravesreid/autonomous-bittle.git

sudo apt-get install python3-opencv -y

sudo apt-get install pip

sudo apt-get install python3-tk

sudo apt install python3-serial

11. Edit bash path:

sudo apt-get install vim -y
vim ~/.bashrc

at the end of the file add: export PATH=$PATH:/home/pi/.local/bin

If you have issues with accessing port ttyS0 (this disables bluetooth):

 sudo vim /boot/config.txt

1. add: dtoverlay=disable-bt
2. Enter to terminal:

sudo systemctl stop hciuart

sudo systemctl disable hciuart

sudo reboot

Set up virtual environment for python:

sudo apt-get install python3-virtualenv

mkdir project

cd project

python3 -m virtualenv env

source env/bin/activate

Connect to raspberry pi through ssh

1. Hook the pi up to a monitor and type:

ifconfig

2. note the ip address for the pi
3. On your desktop terminal type:

ssh pi@[pi_ip_address]

4. You will be prompted for the password for the pi. You can now disconnect the monitor from the pi

If you get error: WARNING: REMOTE HOST IDENTIFICATION HAS CHANGED!

ssh-keygen -f "/home/[your_username]/.ssh/known_hosts" -R [ip.address]

Send commands to bittle through ardserial.py via ssh

cd ~/Opencat/serialMaster

python3 ardserial.py

Now you can enter commands through the terminal

Start video streaming from raspberry pi to desktop

1. run ifconfig on your desktop terminal bash ifconfig
2. enter the desktop ip address in both the sender.py and receiver.py scripts
3. On the desktop, run

python3 receiver.py

4. on the pi, run

python3 sender.py

Send files from one machine to another (1st part is file being copied)

scp /path/to/local/file username@remotehost:/path/to/remote/directory

Send entire directory from one machine to another

scp -r /path/to/local/directory username@remotehost:/path/to/remote/directory

Operate bittle to receive commands based on object recognition

1. Set up two terminals with ssh to pi
2. Open one terminal in bittle python environment on desktop
3. On first bittle terminal run

   python3 ardSocket.py

4. On desktop terminal run

python3 receiver.py

5. On second bittle terminal run

python3 sender.py