- Open source
- 3D printed construction
- 4 geared DC motors
- TPU printed one-part "tracks"
- powered by 6V sealed acid battery
- ORP compatible mounting points (easy to expand)
- Raspberry Pi Zero W
- custom robot controller HAT
- camera
- LED lights
- web interface
- power management (battery voltage monitoring, automatic shutdown, current draw monitoring)
- rotable camera mount
- LIDAR D200 WaveShare
- advanced indoor positioning system
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Use Raspberry Pi Imager to install Raspberry Pi OS Lite Legacy (Bullseye, it won't work on Bookworm and later!) on microSD card. Pre-configure it for headless operation (WiFi credentials, username, password, enable SSH).
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Plug in microSD card into Raspberry Pi, wait for it to boot.
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Find an IP address of your RPi and connect to it via SSH.
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Update system:
sudo apt-get update && sudo apt-get upgrade -y -
Enable legacy camera stack
sudo raspi-configselect
Interface options -> Legacy camera supportand enable it go back to main menu, finish and reboot -
Download and run installation script:
⚠️ it may take long time to complete, so be patientwget https://raw.githubusercontent.com/Poly-Mentor/RPi0-vehicle/main/install.sh && chmod +x install.sh && bash install.sh -
(optional) Save compiled binary
If you want to avoid long re-building raspivid_mjpeg_server after OS reinstallation, you can zip it:
zip -r ~/raspivid_mjpeg_server_bin.zip ~/raspivid_mjpeg_server/raspivid_mjpeg_server-master/target/release/raspivid_mjpeg_serverthen copy it to your PC or pendrive.
After system reinstallation, just copy it to your home directory.
install.shscript will recognize it, unzip, and install this version without downloading Rust and compiling. -
Modify hardcoded IP addresses
This is temporary shortcut i took. I'll eliminate that in the future, but for now you need to replace IPs in two files:
www/index.html<body style="background-color:antiquewhite "> <div class="container-fluid"> <div class="row p-3"> <div class="col-md-8" id="cameraImage"> <!-- *****replace with your IP, keep the port unchanged****** --> <img src="http://192.168.0.228:8554/" class="img-fluid"> <div class="form-check form-switch"> <input class="form-check-input" type="checkbox" role="switch" id="LEDswitch"> <label class="form-check-label" for="LEDswitch">LED lights</label> </div> </div>
and
www/script.jsfunction initSocket(){ // replace with your IP, keep the port unchanged mySocket = new WebSocket("ws://192.168.0.228:13254", "joystick_protocol");
execute starting script
. ~/RPi0-vehicle/RPi0-vehicle-main/start.sh
open http://<your-RPi-IP-address>:8000 in your browser on any device in home network, you should see the control panel:
To stop the servers just kill launched jobs:
(venv) fs@RPiZero:~/RPi0-vehicle/RPi0-vehicle-main $ jobs
[1] Running raspivid -ISO 0 -t 0 -n -o - -w 640 -h 480 -fps 10 -b 25000000 -cd MJPEG | raspivid_mjpeg_server &
[2]- Running python vehicle_ws_server.py &
[3]+ Running python -m http.server --directory ./www &
(venv) fs@RPiZero:~/RPi0-vehicle/RPi0-vehicle-main $ kill %1 %2 %3
(venv) fs@RPiZero:~/RPi0-vehicle/RPi0-vehicle-main $ jobs
[1] Terminated raspivid -ISO 0 -t 0 -n -o - -w 640 -h 480 -fps 10 -b 25000000 -cd MJPEG | raspivid_mjpeg_server
[2]- Terminated python vehicle_ws_server.py
[3]+ Terminated python -m http.server --directory ./www
Thanks for developers sharing their code which has been used there: