Pi2Go

Pi2Go Home Page https://4tronix.co.uk/blog/?p=452

4tronix Pi2Go Full robot C++ library and sample programs

You can compile the sources or go to step 4 to run the examples.

1. install basic development system and Wiring Pi if it is not installed, for Raspbian:

• sudo apt-get install build-essential wiringpi

2. delete the current executable files:

• make clean

3. run make to build the current .o and executable files:

• make

4. enter into examples directory:

• cd examples

5. run examples as root:

• sudo ./testRGBLEDs

• testIRSensors: tests the IR sensors, useful to avoid near obstacles

• testLightSensors: tests the front and rear light sensors, use the lantern of your cell phone for this test

• testMotors: flip the robot and run this test and watch how wheels move

• testRGBLEDs: nice RGB test, modifing color and intensity, useful to report states

• testSonar: measures long distances in cm

• testSwitch: tests built-in switch, useful to modify your robot behavior in runtime

• testLEDs: old code, forget it

6. run wanderer as root and follow the on screen instructions:

• sudo ./wanderer

Use wanderer robot to build your own robot program, the robot works according to these rules:

• the robot remains stopped until the switch is pressed
• when moving, the robot will stop if the switch is pressed
• when searching an obstacle:
  • the robot searchs an obstacle moving along or in spiral, randomly left or right
  • the movement alternates between spiral and along every some seconds
  • when moving along, the speed increases if no obstacle is detected near, and is decreased otherwise
• when avoiding an obstacle:
  • if an obstacle is found, the robot tries to avoid it and moves in spiral to the opposite direction of the obstacle found
  • if an obstacle can't be avoided, the robot stops and notifies the problem using PWM LEDs
  • PWM LEDs will show the position of the obstacle found
• watch how it works: https://youtu.be/qG_SAB7Q7Ko

7. run PID_distance as root and follow the on screen instructions:

• sudo ./PID_distance 10 0.00001 0.01 20 5 100 1 (avoid parameters to read the help)
• the objective of this robot is to find a front obstacle and keep a fixed distance to the obstacle. Use a folder to make the robot move forward and backward

This robot works according to these rules:

• the programs shows Kp, Ki and Kp parameters sent
• the robot remains stopped until the switch is pressed
• when moving, the robot will stop if the switch is pressed
• the robot remains stopped until the switch is pressed
• the objective of this robot is to find a front obstacle and keep a fixed distance to the obstacle. Use a folder to make the robot move forward and backward
• if a non-front or too near front obstacle is found, the robot stops
• PWM LEDs will show the position of the obstacle found
• watch how it works: https://youtu.be/CEGxc8gxtFQ