dmalawey

Start the nodeRed installation:

Running Node-RED update for user pi at /home/pi on raspbian

This can take 20-30 minutes on the slower Pi versions - please wait.

Stop Node-RED                       ✔
Remove old version of Node-RED      ✔
Remove old version of Node.js ✔

dmalawey

country=US
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1

# First network to search for
network={
    ssid="your_ssid"
    psk="your_password"
}

dmalawey

[{"id":"4a052b50.075214","type":"tab","label":"PlotGP","disabled":false,"info":""},{"id":"350633a1.11bc9c","type":"ui_gauge","z":"4a052b50.075214","name":"","group":"341ef7b5.bb9218","order":1,"width":"5","height":"5","gtype":"gage","title":"Axis0 (theta dot)","label":"percent","format":"{{value}}","min":"-100","max":"100","colors":["#00b500","#e6e600","#ca3838"],"seg1":"","seg2":"","x":460,"y":280,"wires":[]},{"id":"1cbd9feb.395ee","type":"file in","z":"4a052b50.075214","name":"read uFile.txt","filename":"/tmp/uFile.txt","format":"utf8","chunk":false,"sendError":false,"encoding":"none","x":130,"y":120,"wires":[["7d96ee41.f7f52","9f412f87.46433"]]},{"id":"7d96ee41.f7f52","type":"csv","z":"4a052b50.075214","name":"parse values","sep":",","hdrin":"","hdrout":"none","multi":"one","ret":"\\n","temp":"GP_tdot, GP_xdot","skip":"0","strings":true,"include_empty_strings":"","include_null_values":"","x":190,"y":180,"wires":[["2c3f9ccf.818b84","d7dc5615.75ce08","99988631.c44068"]]},{"id":"2c3f9ccf.818b84","type":"debug

dmalawey

{
    "name": "SCUTTLE",
    "host": "192.168.1.8",
    "protocol": "sftp",
    "port": 22,
    "username": "pi",
    "password": "raspberry"
    "remotePath": "/home",
    "uploadOnSave": true
}

dmalawey

Linux & Pi Short Notes:

This document is for all steps getting started with an embedded Linux Machine and specifically addressing the path for SCUTTLE developers who lack formal training in computer science such as myself. -DM

Syntax guide for formatting in markdown

I am using markdownguide.org for formatting this document.

Wifi setup (Option 1)

1. SSH must be enabled on the Pi. Go to the raspi SSH documentation and use STEP 3 to enable SSH directly from the SD card.

2. Create the wpa_supplicant.conf file and configure it to give WiFi access to the Pi. Use this method when you have no monitor.

dmalawey

[{"id":"4a052b50.075214","type":"tab","label":"PlotGP","disabled":false,"info":""},{"id":"dc90d6ca.9573c8","type":"ui_chart","z":"4a052b50.075214","name":"GamePad axis0 Chart","group":"341ef7b5.bb9218","order":6,"width":0,"height":0,"label":"Gamepad Axis0 Chart","chartType":"line","legend":"false","xformat":"HH:mm","interpolate":"linear","nodata":"Waiting for Data...","dot":false,"ymin":"-100","ymax":"100","removeOlder":"10","removeOlderPoints":"","removeOlderUnit":"60","cutout":0,"useOneColor":false,"useUTC":false,"colors":["#1f77b4","#aec7e8","#ff7f0e","#2ca02c","#98df8a","#d62728","#ff9896","#9467bd","#c5b0d5"],"useOldStyle":false,"outputs":1,"x":240,"y":260,"wires":[[]]},{"id":"350633a1.11bc9c","type":"ui_gauge","z":"4a052b50.075214","name":"","group":"341ef7b5.bb9218","order":1,"width":0,"height":0,"gtype":"gage","title":"Gamepad Axis0 Value","label":"percent","format":"{{value}}","min":"-100","max":"100","colors":["#00b500","#e6e600","#ca3838"],"seg1":"","seg2":"","x":240,"y":220,"wires":[]},{"id":"1cbd

dmalawey

[{"id":"22de6241.99d99e","type":"tab","label":"ReceiveMQTT","disabled":false,"info":""},{"id":"fa9bfea5.972ee","type":"mqtt in","z":"22de6241.99d99e","name":"","topic":"SCUTTLE/pi/cmd","qos":"2","datatype":"auto","broker":"1cc0cc73.690154","x":120,"y":80,"wires":[["721e0737.c93978","8d8ca943.671f88"]]},{"id":"721e0737.c93978","type":"csv","z":"22de6241.99d99e","name":"","sep":",","hdrin":false,"hdrout":"all","multi":"one","ret":"\\n","temp":"fieldA, fieldB","skip":"0","strings":true,"include_empty_strings":"","include_null_values":"","x":180,"y":180,"wires":[["cc5a197f.041b88","5895d1cf.f5221"]]},{"id":"cc5a197f.041b88","type":"file","z":"22de6241.99d99e","name":"","filename":"/home/pi/piScuttle/data3.csv","appendNewline":true,"createDir":true,"overwriteFile":"true","encoding":"none","x":350,"y":240,"wires":[[]]},{"id":"5895d1cf.f5221","type":"debug","z":"22de6241.99d99e","name":"debug3","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","statusVal":"","sta

dmalawey

[{"id":"22de6241.99d99e","type":"tab","label":"GamePad","disabled":false,"info":""},{"id":"3f6df30c.f1a0bc","type":"csv","z":"22de6241.99d99e","name":"","sep":"\\t","hdrin":true,"hdrout":"none","multi":"one","ret":"\\n","temp":"","skip":"0","strings":true,"include_empty_strings":"","include_null_values":"","x":370,"y":280,"wires":[["51721a8b.c03934","6003e56b.07b51c"]]},{"id":"d4cc4cd7.6b652","type":"file in","z":"22de6241.99d99e","name":"","filename":"/home/pi/piScuttle/data2.csv","format":"utf8","chunk":false,"sendError":false,"encoding":"none","x":260,"y":200,"wires":[["3f6df30c.f1a0bc"]]},{"id":"ab78c8b0.7a8e18","type":"inject","z":"22de6241.99d99e","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"","payloadType":"date","x":110,"y":120,"wires":[["d4cc4cd7.6b652"]]},{"id":"51721a8b.c03934","type":"mqtt out","z":"22de6241.99d99e","name":"","topic":"SCUTTLE/pi/gp2","qos":"2","retain":"","broker":"1cc0cc73.690154","x":470,

dmalawey

import time
import math
import logging
import numpy as np
from scuttlepy import gpio
from scuttlepy import wheels
from scuttlepy import mpu

# Create and configure logger
logging.basicConfig(filename="robotTest.log", format='%(asctime)s %(message)s', filemode='w')

dmalawey

# l2_displacement.py

# This program takes the encoder values from encoders, computes wheel movement
# calculates the chassis displacement and continuously adds up the displacement
# to indicate how much the robot has advanced, in meters.

import L1_encoder as enc                    # local library for encoders
import numpy as np                          # library for math operations
import time                                 # library for time access