PI-rov

A reaspberry pi powered control platform for controlling an ROV.

TODO:

• turn off the raspberry pi 3's wifi. ROV uses ethernet for communications.
• instructions on how to clone / install project
• script that does all the things automatically
• script to build an r-pi image
• setting up a supervisor to keep control scripts running
• Control loop switches and pwm framework for sending commands via WS and receiving it and processing
• esc control loop data from sensor gets processed and turned into ESC output signals for thrusters.
• one-line/install script for installing on existing rpi installs. system status message with current output settings for all devices. ( provides feedback to the interface, switch status, thruster output )

setup

Burn

The default image has ssh disabled by default, to get around that drop a ssh file into the boot directory. The file doesn't have to have an extension or contents.

on OSX:

cd /Volumes/boot/
touch ssh

Eject the card and put it in the pi.

sudo raspi-config --expand-rootfs
sudo raspi-config nonint do_update
sudo reboot
# re-login
sudo apt-get install -y rpi-update
sudo rpi-update
sudo reboot
# re-login
sudo apt-get install -y git make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev wget curl llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev supervisor
curl -L https://raw.githubusercontent.com/pyenv/pyenv-installer/master/bin/pyenv-installer | bash
# this disables wifi on next reboot.  Make sure your on ethernet before running this.
echo "\ndtoverlay=pi3-disable-wifi" >> /boot/config.txt

Add this to the bottom of the pi users .bashrc file

export PATH="~/.pyenv/bin:$PATH"
eval "$(pyenv init -)"

git clone https://github.com/SV-Seeker/pi-rov.git rov
cd rov
pyenv install
./script/rov/update

installing python takes a while.

local development setup

git clone https://github.com/SV-Seeker/pi-rov.git
git remote add rov pi@rov.local:/home/pi/rov/
cd pi-rov
pyenv install
pyenv virtualenv rov
pyenv activate

deploying

./script/deploy