#Rusty bot This is a robot project that leverages a Raspberry Pi and Arduino. The Raspberry Pi receives commands and feeds them to a arduino the aim is to make the command structure very generatic so any arduino and Pi set up can be used, and to make this project as plug and play as possible.

Feel Free to look through the source code and critic everything. I appreciate the help and support

Commands

These are the commands that are supported by the project. These commands are that control the arduino board. The purpose of defining the commands as described in this readme is to insure extendablity and replaceablitly. This is currently in draft 2 and so far so good. Only peices are replaced in the grammar rather that be Dcmd or Action.

Command structure

• Message ::= { (Interface : I | i | S | s ) + Command }
• Interface ::= { SPI or I2c}
• Command ::= { (Digital : D | d + Dcmd) | (Analog : A | a + Acmd) | (Servo : S | s + Scmd) | (DCMotor : m | M + mcmd) }

Digtial Read Write

• Dcmd ::= { Pin + ( Read | ( Write + Action) ) }
• Pin ::= { u8 }
• Read ::= { R | r}
• Write ::= { W | w}
• Action ::= { u8 }

Analog Read Write

• Analog ::= { Pin + ( Read | (Write + Action) ) }
• Pin ::= { u8 + u8 }
• Read ::= { R | r}
• Write ::= { W | w}
• Action ::= { u8*}

Servo Command Read Write

• Scmd ::= { Pin + Read | (Write + Degree) }
• Pin ::= { u8 }
• Read ::= { R | r}
• Write ::= { W | w}
• Degree ::= { u8 }

DC Motors

this is under construction the commands will be by motor now not by direction

Messaging Examples

• s d 30 w 1
• I d 30 r

Controller

Below is all the details for the controller implementation Controller pins:

#####Pin set up for the current hardware controller sw hardware A4 : Right Y axis joystick A5 : Right X axis joystick A6 : Left X axis joystick A7 : Left Y axis joystick

D12: Left  Button read
D10: Right Button read


D6 : Right green  LED 
D5 : Left  green  LED
D4 : Right yellow LED
D2 : red   LED