Scorpi: Difference between revisions

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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 (GPIO pin 14,15)
[[Motor drive PCB]] and cabling.


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


=== 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 15) (RxD)
3 Rx        white        8  (GPIO 14)(TxD)
4 Gnd        Yellow      6  (Ground)
5 M_SCP      Orange      18 (GPIO 24)
6 Dev_enable Green        16 (GPIO 23)
7 M_enable  Blue        12 (GPIO 18)
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[[Scorpi Ros Iron]] (outdated).
$ 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 11:49, 3 October 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 and cabling.


Development nodes

Raspberry Pi 5 installation for Scorpi.

MQTT and Mosquitto.

Teensy interface installation.

YD-Lidar details.

Scorpi Ros Iron (outdated).

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