DogRobot with RaspberryPi

AUTHOR

• Manel Lurbe Sempere ([email protected])

DEVELOPMENT DEMO

DOCUMENTATION AND SET UP

LEGS CHANNELS

• peu_davanter_dret = kit.servo[0]

• peu_davanter_esquerre = kit.servo[1]

• genoll_davanter_esquerre = kit.servo[2]

• genoll_davanter_dret = kit.servo[3]

• cama_davantera_esquerra = kit.servo[4]

• cama_posterior_dreta = kit.servo[5]

• cama_posterior_esquerra = kit.servo[6]

• cama_davantera_dreta = kit.servo[7]

• cola = kit.servo[8]

• coll = kit.servo[9]

• cara = kit.servo[10]

• nada = kit.servo[11]# No hay nada

• peu_posterior_dret = kit.servo[12]

• genoll_posterior_esquerre = kit.servo[13]

• peu_posterior_esquerre = kit.servo[14]

• genoll_posterior_dret = kit.servo[15]

Initial servo values

• [peu_davanter_dret,60]
• [genoll_davanter_dret,130]
• [cama_davantera_dreta,40]

cama2

• [peu_davanter_esquerre,60]
• [genoll_davanter_esquerre,25]
• [cama_davantera_esquerra,160]

cama3

• [peu_posterior_dret,130]
• [genoll_posterior_dret,160]
• [cama_posterior_dreta,160])

cama4

• [peu_posterior_esquerre,85]
• [genoll_posterior_esquerre,150]
• [cama_posterior_esquerra,150])

SOFTWARE REQUISITES

• Install python3 for develop (Ubuntu/Debian based systems):

  sudo apt install python3-dev python3-pip python3-tk build-essential libi2c-dev i2c-tools libffi-dev

• Install libs for python 3:

  sudo -H python3 -m pip install adafruit-circuitpython-busdevice adafruit-circuitpython-servokit adafruit-circuitpython-pca9685 PCA9685-driver RPi.GPIO

HOW TO USE

• Set execution permissions:

  chmod +x program.py

• Usage:

  python3 program.py command

  or:

  ./program.py command

NOTE: Replace "program" with the name of the program you want to execute and "command" with the name of command you want to execute.