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[[File:scorpi_in_profile.png | 600px]]
Scorpi has its name as it looks a bit like a scorpion and is controlled by Raspberry Pi.
 
[[File:scorpi_in_profile.png | 600px | On-shape view of the Scorpi design. | On-shape view of the Scorpi design.]]


==Overview==
==Overview==


==Development nodes==
[[Scorpi modules | Scorpi hardware interface modules]]
 
=== Raspberry pi ===


Raspberry pi 5 installation
[[Motor drive]] firmware.


* enable serial IO hardware (pin 15,16)
[[Motor drive PCB]].


Install packages:
libreadline-dev
libopencv-dev
libgpiod-dev
gpiod
cmake
subversion
aptitude
ntp
ntpdate
nmap
lsof
sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof


=== YDLidar (S4B) ===
==Development nodes==


YDlidar serial connected like this:
[[Scorpi Pi installation| Raspberry Pi 5 installation]] for Scorpi.


YDLIDAR  cable color  Raspberry
[[MQTT and Mosquitto]].
1 Vcc (5V)  black        4 (5V)
2 Tx        red          10 (GPIO 16) (RxD)
3 Rx        white        8 (GPIO 15)(TxD)
4 Gnd        Yellow      6 (Ground)
5 M_SCP      Orange      18 (GPIO 5)
6 Dev_enable Green        16 (GPIO 4)
7 M_enable  Blue        12 (GPIO 1)
8 NC        Purple      14 (ground, to use all pins)


Software YDLidar-SDK
[[Teensy interface]] installation.


From Git repository
[[YD-Lidar details]].


$ mkdir -p git
[[Scorpi Ros Iron]].
$ cd git
$ git clone https://github.com/YDLIDAR/YDLidar-SDK.git
$ cd YDLidar-SDK
$ mkdir build
$ cd build
$ cmake ..
$ make -j4

Latest revision as of 15:05, 16 August 2024

Scorpi has its name as it looks a bit like a scorpion and is controlled by Raspberry Pi.

On-shape view of the Scorpi design.

Overview

Scorpi hardware interface modules

Motor drive firmware.

Motor drive PCB.


Development nodes

Raspberry Pi 5 installation for Scorpi.

MQTT and Mosquitto.

Teensy interface installation.

YD-Lidar details.

Scorpi Ros Iron.

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