Robobot

This page is for ROBOBOT, an extension of REGBOT with a raspberry pi and three wheels.

Installation observations

Raspicam

A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40. And can be downloaded from https://sourceforge.net/projects/raspicam/files/?

Unpack and install:

unzip raspicam-0.1.3.zip
cd raspicam-0.1.3
mkdir build
cd build
cmake ..
make
sudo make install

Userland

To be able to install mobotware

Follow the guide under REGBOT

DNSMASQ

Install DNSMASQ

sudo apt install dnsmasq

allow dnsmasq to provide IP to pear-to-pear networks Edit the /etc/dnsmasq.conf and change/add the following line (for eth0)

dhcp-range=eth0,192.168.0.100,192.168.0.150,12h

To work, the eth0 must have an IP, if noone provides one, change /etc/dhcpcd.conf (dhcp client deamon) to have a default IP, if no DHCP server is available

Add the following lines at the end of /etc/dhcpcd.conf

# define static profile
profile static_eth0
static ip_address=192.168.0.2/24
static routers=192.168.0.1
static domain_name_servers=192.168.0.1

# fallback to static profile on eth0
interface eth0
fallback static_eth0 

# define static profile
profile static_eth1
static ip_address=192.168.1.2/24
static routers=192.168.1.1
#static domain_name_servers=192.168.0.1

# fallback to static profile on eth1
interface eth1
fallback static_eth1

This will also give a default IP for an eventual second network (usb-to-cable) if needed

Used as DHCP server for pear-to-pear communication with a PC.

- failsto start dnsmasq ???

Mobotware

Requires a number of packages - see Install on raspberry

ROBOBOT demo C++

This is an examplesoftware in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.