This file is a documentation of the pirover project
- Raspberry pi Zero W ![Raspberry pi zero w 50] (https://cdn.shopify.com/s/files/1/0176/3274/products/raspberry-pi-zero-w-raspberry-pi-sc0020-14879106433086_700x.jpg?v=1646233385)
- RaspiRobot V3f ![RaspiRobot V3f] (https://cdn-shop.adafruit.com/970x728/1940-00.jpg)
- LIPO 18650 3.7V
- Motors and Wheels and Frame
- Servo Mounting unit ![acrylic mounting unit] (https://imgaz.staticbg.com/images/oaupload/banggood/images/D4/4E/9a72eaba-dc09-4fdf-bdbd-9c72458607fb.jpg.webp)
- SG90 Servos x 3
- VL53L0X Time of Flight sensor
- 18650 3x batter holder
- Pan&tilt mechanism
- tiny breadboard
- nylon standoff and screw
- brass standoffs
- nightvision camera
- proximity sensor x2
- jst connectors
- jumperwires
- Magnifying glass with lamp
- Helping hand
- nylon ties
The python code has been taken from the followng libraries
- Simon Monks python library rrb3
- Hands-On MQTT programming with Python by by Gaston C. Hillar
- Building a streaming library with picamera
Node-red was used to develop an interface for controlling the car and camera. It was also used as a means of being able to see the streaming video of the rover
Finally, I wanted to use MQTT to pass messages to the rover and get telemetry data from the rover.
Initially I tried the traditional HC-SR04. However the drawback with this was that it ultrsound is not the best wave to bounce off fabric. So Couches and curtans were not detected very well.
I had to add the proximity sensor to overcome when theultrasonic sensor was not very good at this. This added further logic to the code.
The time-of-flight sensors have become quite cheap. The one that I am using does not have a big range. However because the rover is not going at speed anywhere it was easy to incorporate the VL53L0X into the design.
I might be able to remove the proximity sensor once I am have been able to code the time-of-flight sensor better.
I am using pimoroni's VL53L0X library.
I am using 3 of the 18650 batteries, although one should have been sufficient. This allows me to play a little longer.
I have not had much success with controlling the jitter on the servos. I used a variety of libraris to experiment with controlling the jitter. My idea of electricity and PWM is very basic. So the controls for the camera servos ae not very good.