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SETUP.md

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Setup GoPi5Go_Dave

  • 64-bit PiOS Bookworm Desktop
  • on Raspberry Pi 5 (4GB model)
  • 32GB sdCard
  • USB Audio Speaker
  • GoPiGo3 Robot

As Of: 26 MAR 2024 with 64-bit PiOS

** Get Latest Raspberry Pi Imager (will list latest OS options) **
https://www.raspberrypi.com/software/

** Write 64-bit PiOS Bookworm Desktop to SDcard with Raspberry Pi Imager**

  • Choose OS -> Pi5 -> 64-bit Pi OS (Bookworm) Desktop
  • Preconfigure WiFi SSID/PW, user, pw, locale, in Imager (SSID is case sensitive)

** Disable IPv6 to make life easier( apt updates succeed without specifying IPv4 only )
nano cmdline.txt add ipv6.disable=1 at end of line, do not add return at end

** SSH:** Setting in imager WORKED!

  • ssh [email protected]
    • (If needed: ssh-keygen -R X.X.X.X , then try ssh again)
    • pw: your password

** Update OS**

$ sudo apt update
$ sudo apt full-upgrade

$ sudo reboot

** Raspberry Pi Configuration

sudo raspi-config
  - turn off auto login - console require login
  - Interfaces -> VNC, SPI, I2C
  - Localization->Set Locale: US
reboot now? yes

** === Bring Down GoPi5Go from Github repository

cd ~
git clone https://github.com/slowrunner/GoPi5Go.git
setup git credentials

** === Setup ip_feedback (and espeak-ng)

cd GoPi5Go/config
./install_ip_feedback_service.sh

** === Setup life logging

copy crontab-e last three lines

sudo crontab -e
- select nano 1
- paste three lines at end of file
- reboot

** === Setup Pi5 Napping

Follow GoPi5Go/config/RTC.README.md

** ===Install GoPiGo3 software**

./get_dexter_software.sh

Note - that script now does the setup of the GoPiGo3 Python API

  • on Raspberry Pi5 PiOS Bookworm 64-bit,
  • assumes cloned the GoPi5Go repo to /home/pi

** === Install GoPi5Go Power Management Service

./install_gp5g_power_service.sh

** === TEST C++ GoPiGo3 API

cd ~/GoP5Go/systests/cpp
cmake CMakeList.txt
make
./robot

pi@GoPi5Go:~/GoPi5Go/systests/cpp $ ./robot

**** GoPiGo3 Robot Constants:
 - WHEEL_DIAMETER: 66.500 mm
 - WHEEL_BASE_WIDTH: 117.000 mm
 - ENCODER_TICKS_PER_ROTATION: 6
 - MOTOR_GEAR_RATIO: 120

****
        fwd w                  r reset encoders 
 left  a  spin s   d  right
            bkwd x 
                               spacebar  STOP
****

encoders: (0, 0) Cmd: (q to exit): w
LEFT : motor_state: 0,  pwr: 100,  pos: 1,  dps: 0
RIGHT: motor_state: 0,  pwr: 100,  pos: 0,  dps: 0

encoders: (1, 0) Cmd: (q to exit):  stopping..
LEFT : motor_state: 0,  pwr: 0,  pos: 2100,  dps: 0
RIGHT: motor_state: 0,  pwr: 0,  pos: 2043,  dps: 0

encoders: (2100, 2043) Cmd: (q to exit): s
LEFT : motor_state: 0,  pwr: 0,  pos: 2100,  dps: 0
RIGHT: motor_state: 0,  pwr: 0,  pos: 2043,  dps: 0

encoders: (2100, 2043) Cmd: (q to exit): q
LEFT : motor_state: 0,  pwr: -128,  pos: 3103,  dps: 153
RIGHT: motor_state: 0,  pwr: -128,  pos: 1038,  dps: -163

** === Setup VSCode on Desktop for Remote Dev

  • install VSCode on Desktop
  • remote SSH to robot
  • browse to ~/GoPi5Go/systests/easygopigo
  • configure recommended extensions
  • build
  • ./build/egpgtest

** === Setup automatic file system checking 5 boots or 7 days

./setup_tune2fs.sh
sudo reboot

** === Setup permissions for joystick access

sudo chgrp input /dev/input/js0
sudo chgrp input /dev/input/event*