PythonRobot

Python robot project for Raspberry Pi 3B with Pure Pursuit path tracking

https://www.monkmakes.com/rrb3/

https://www.monkmakes.com/pi-rover/

• Robot is controlled by an Xbox 360 wireless controller with a USB adaptor
• Raspberry Pi 3B powered by a 5V 2A 5000mAh micro USB battery
• Motors powered by a 6x AA battery pack

Software Prerequisites:

sudo apt-get update

sudo apt-get install python3-dev python3-rpi.gpio python3-smbus python3-pip xboxdrv

sudo pip3 install evdev

Run Instructions:

1. Plug in and turn on Xbox 360 controller
2. Run the 'run.sh' script
3. Press 'Ctrl-C' or the 'Start' button to exit

Commands:

Commands are defined in src/robot.py

• Left Stick - Controls velocity of left wheel
• Right Stick - Controls velocity of right wheel
• A - Drive forward 24 inches; Uses Hall Effect encoders
• B - Drive forward at 12 inches/second; Uses Hall Effect encoders
• X - Drive until 12 inches away from object or wall; Uses Ultrasonic distance sensor
• Y - Turn to an angle of 45 degrees; Uses MPU6050 Gyroscope
• Start - Follow path defined in src/commands/PursuitCommand.py; Uses Pure Pursuit
• Select - Exits program

Components/Sensors:

• Monk Makes RasPiRobot Board V3
• MPU6050 Gyroscope + Accelerometer
• HCSR04 Ultrasonic Sensor
• RB-DFR-668 Motor with Hall Effect Encoder

Thanks to the Following GitHub Repositories:

https://github.com/simonmonk/raspirobotboard3

https://github.com/Tijndagamer/mpu6050