Introducton

This is the condbase of our Lego sorting robot for an educational setup as OST. While there is another experimental implementaiton of this robot in the rep SmartFactory_SorticRoboter, this is the current stable code that is used in production. For installation, please use the "production" branch to get stable code with the latest bugfixes.

structure

Sortic150 consists of several modules located in the sw-modules directory. The individual modules are presented below:

module-chassis and module-roboter-arm

Requirements

• platformio

Build

Build&Upload python -m platformio run -t upload

API chassis

IN Run action with index 0 with params 100. a0[100]

Out Sends all the sensor values as shown below: [s0,s1,...,sn]

API roboter-arm

IN

Pickup 0: left, 1: right pickup(0) pickup(1)

Drop 0: left, 1:right drop(0) drop(1)

Out

Success: success(1) Fail: success(0)

module-raspbi

Requirements

• RaspberryPi(Model 3B+)
• SD-Card(16Gb)
• Touch-Screen

Setup Instructions

Before you begin

1. Download Raspbian Buster with desktop
2. Follow Installing instructions installing-images
3. Insert the sd-card and put the device together(plug-in the usb cables etc.)

Set Up The RaspberryPi

1. Connect the RaspberryPi with the Internet
2. Install latest the Node-Red follow instructions
3. Autostart Chromium in Kioskmode

Configure Node-Red

1. Copy/paste the node-red.json into running node-red
2. Install node-red-dashboard
3. Autostart node-red on boot: sudo systemctl enable nodered.service

Testing

ip_raspbi:1880/ui

Show connected devices python -m platformio device list

Show API OUT from device(needs sudo) python -m platformio device monitor