RPI_drivers

Sample codes for driving different hardware with Raspberry Pi
The name of the original package is commu

Hardware

Raspberry Pi Zero Wireless

• datasheet: https://cdn-learn.adafruit.com/downloads/pdf/introducing-the-raspberry-pi-zero.pdf

PCA9685 I2C 16 Channels PWM driver

• datasheet: https://cdn-shop.adafruit.com/datasheets/PCA9685.pdf

MPU 9250 9 Axes Accelerometer

• datasheet: https://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf

TCA9548A 8 Channels I2C Multiplexer

• datasheet: http://www.ti.com/lit/ds/symlink/tca9548a.pdf

28015 REV C PING))) Ultrasonic Distance Sensor

• datasheet: http://users.ece.utexas.edu/~valvano/Datasheets/PingDocs.pdf

Software

Raspberry Pi

Raspbian Jessie Lite
ROS packages:

• rospy
• roscpp
• roslaunch
• sensor_msgs
• std_msgs
• visualization_msgs
• tf

PC

putty: https://www.putty.org/
Winscp: https://winscp.net/eng/index.php
Advanced IP Scanner: https://www.advanced-ip-scanner.com/
Win32DiskImager: https://sourceforge.net/projects/win32diskimager/

Relvant Links

Raspberry Pi headless setup: https://hackernoon.com/raspberry-pi-headless-install-462ccabd75d0
I2C setup: https://learn.adafruit.com/adafruits-raspberry-pi-lesson-4-gpio-setup/configuring-i2c

Relvant Issues

WIFI setup:

• Add the following lines to /etc/wpa_supplicant/wpa_supplicant.conf:

network={
ssid="MySSID"
psk="MyPsk"
key_mgmt=WPA-PSK
}

• Add the following lines to /etc/network/interfaces(for auto conntection, not default for Raspbian Stretch):

auto lo
iface lo inet loopback

iface eth0 inet manual

allow-hotplug wlan0
iface wlan0 inet manual
    wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf

allow-hotplug wlan1
iface wlan1 inet manual
    wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf

Show all connected I2C devices:

$ sudo i2cdetect -y

Make the scripts executable:

$ chmod +x something.py

Show ip address:

$ ifconfig

Install smbus2:

$ sudo apt-get install -y python2-pip
$ sudo pip install smbus2

To add new ros packages, follow the section 4.2 in this link:
http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi

GPIO for Raspberry pi 3 and pi zero w:
(Source page: http://www.raspberry-pi-geek.com/howto/GPIO-Pinout-Rasp-Pi-1-Model-B-Rasp-Pi-2-Model-B)