This platform has been created to allow modular development and experimentation of robotics in python / C++ using the Raspberry Pi and Arduino.
To use the Googla Coral USB Accelerator, first flash the Pi SD card with the image found in the AIY Maker Kit (Download as of 2022-08-05)
(I attempted to install the required software from the coral getting started guide but I was unable to get past an error relating to grpico "GLIBC_2.29' not found")
Alternatively, set Config.vision.tech to opencv for the original (slower) facial recognition. I am not updating this anymore so you may find some integration issues.
chmod 777 install.sh
./install.sh
Disable audio (see Neopixels section below)
./startup.sh
To execute manual control via keyboard:
./manual_startup.sh
To execute startup including a preview of the video feed (not available via SSH):
./preview_startup.sh
###Testing
python3 -m pytest --cov=modules --cov-report term-missing
Execute sudo vim /etc/rc/local and add the following lines before the exit 0 statement:
python3 /home/archie/companion-robot/shutdown_pi.py
/home/archie/companion-robot/startup.sh
GPIO 26 is wired to allow shutdown when brought to ground via a switch.
The script shutdown_pi.py manages this.
Guide: https://howchoo.com/g/mwnlytk3zmm/how-to-add-a-power-button-to-your-raspberry-pi
Using the Raspberry Pi camera
Control of up to 9 servos via an arduino serial connection
Both external and software integrated via the arduino serial connection
A buzzer is connected to GPIO 27 to allow for tones to be played in absence of audio output (see Neopixel below). https://github.com/gumslone/raspi_buzzer_player.git
An RCWL-0516 microwave radar sensor is equipped on GPIO 13
GPIO 18, 19 and 20 allow stereo MEMS microphones as audio input
Mic 3V to Pi 3.3V
Mic GND to Pi GND
Mic SEL to Pi GND (this is used for channel selection, connect to either 3.3V or GND)
Mic BCLK to BCM 18 (pin 12)
Mic DOUT to BCM 20 (pin 38)
Mic LRCL to BCM 19 (pin 35)
https://learn.adafruit.com/adafruit-i2s-mems-microphone-breakout/raspberry-pi-wiring-test
cd ~
sudo pip3 install --upgrade adafruit-python-shell
wget https://raw.githubusercontent.com/adafruit/Raspberry-Pi-Installer-Scripts/master/i2smic.py
sudo python3 i2smic.py
####Test
arecord -l
arecord -D plughw:0 -c2 -r 48000 -f S32_LE -t wav -V stereo -v file_stereo.wav
Note: See below for additional configuration to support voice recognition
Trigger word for voice recognition (currently not used): https://snowboy.kitt.ai/
Speech recognition is enabled whenever a face is visible.
Ensure that the device_index specified in modules/speechinput.py matches your microphone.
See scripts/speech.py to list input devices and test. See below for MEMS microphone configuration
By default the Adafruit I2S MEMS Microphone Breakout does not work with speech recognition.
To support voice recognition on the MEMS microphone(s) the following configuration changes are needed.
sudo apt-get install ladspa-sdk
Create /etc/asound.conf with the following content:
pcm.pluglp {
type ladspa
slave.pcm "plughw:0"
path "/usr/lib/ladspa"
capture_plugins [
{
label hpf
id 1042
}
{
label amp_mono
id 1048
input {
controls [ 30 ]
}
}
]
}
pcm.lp {
type plug
slave.pcm pluglp
}
This enables the device 'lp' to be referenced in voice recognition. Shown with index 18 in the example below.
Sample rate should also be set to 16000
mic = sr.Microphone(device_index=18, sample_rate=16000)
References:
In order to use the Raspberry Pi’s serial port, we need to disable getty (the program that displays login screen)
sudo raspi-config -> Interfacing Options -> Serial -> "Would you like a login shell to be accessible over serial" = 'No'. Restart
Connect the Pi GPIO 14 & 15 (tx & rx) to the arduino tx & rx (tx -> rx in both directions!) via a logic level shifter, as the Pi is 3v3 and the arduino is (most likely) 5v.
####Upload to Arduino over serial pins To upload over serial pins, press the reset button on the Arduino at the point that the IDE starts 'uploading' (after compile), otherwise a sync error will display.
WS1820B support is included via the Pi GPIO pin 12. Unfortunately to support this you must disable audio on the Pi.
sudo vim /boot/config.txt
#dtparam=audio=on
This is also why the application must be executed with sudo
https://learn.adafruit.com/neopixels-on-raspberry-pi/python-usage
Prefabricated PCBs are available for this project in the circuits folder. This allows the connection between the core components as described above.
