This is application for communicate with robot on RPi base with Amur distribution board.

1. CMake - for install read: https://snapcraft.io/install/cmake/raspbian
2. Protobuf & gRPC - for install read: https://grpc.io/docs/languages/cpp/quickstart/ need install in system(/usr/local)
3. PiGPIO - for install read: http://abyz.me.uk/rpi/pigpio/download.html
4. libconfig - for install:

sudo apt-get install libconfig++-dev -y

5. GStreamer (not used, will be added in the future)

git clone https://github.com/ARDev1161/AmurClient.git --recurse-submodules
cd AmurClient
mkdir bin && cd bin

cmake -DCMAKE_BUILD_TYPE=Release -DGRPC_FETCHCONTENT=OFF ../

cmake --build . -- -j4

1. Camera - OV5647
2. Inertial sensor - MPU-9250
3. Encoders wheel: left, right - HOA0901
4. Encoders hand internal: left, right - HOA0901
5. Encoders hand outter: left, right - HOA0901
6. ADC module - ADS1115(address - 0x48)
7. RTC module - DS3231(address - 0x68) with AT24C32(address - 0x57)
8. Barometer - BMP-280
9. Battery voltage

1. ServoX, ServoY - MG90S
2. Motor wheel: left, right
3. Motor hand internal: left, right
4. Motor hand outter: left, right

• GPIO4 - Data from 74HC165
• GPIO17 - Clk 74HC165
• GPIO18 - Not master reset 74HC595
• GPIO27 - SH/Not(LD) 74HC165
• GPIO22 - Clk inh 74HC165
• GPIO23 - Data to 74HC595
• GPIO24 - SHcp 74HC595
• GPIO25 - STcp 74HC595
• GPIO5 - freePin 3
• GPIO6 - freePin 4
• GPIO12 - PWM1 right
• GPIO13 - PWM1 left
• GPIO19 - freePin 1
• GPIO16 - Not OE 74HC595
• GPIO26 - freePin 2
• GPIO20 - PWM2 right
• GPIO21 - PWM2 left

Use for LoRa(SX1278)

1. GPIO19 - Rx enable
2. GPIO26 - Tx enable
3. GPIO5 - DI0
4. GPIO6 - Reset

Use for LoRa(SX1278)

1. CE1
2. CE0
3. SCLK
4. MISO
5. MOSI

Use for ADS1115

1. Vpd
2. SCL
3. SDA
4. GND

1. Vpd
2. Tx
3. Rx
4. GND

1. Left - 3.3V
2. Right - 5V

bites trancieve in register from last to first: from 16 to 1

(First byte - right)

• 1bit - right relay
• 2bit - clk2 right motor shield (Hand right motor - A2 input)
• 3bit - clk1 right motor shield (Wheel right motor - A1 input)
• 4bit - cnt1 right motor shield (Wheel right motor - B1 input)
• 5bit - cnt2 right motor shield (Hand right motor - B2 input)
• 6bit - en1 right motor shield (Wheel right motor)
• 7bit - en2 right motor shield (Hand right motor)
• 8bit - right LED light

(Second byte - left)

• 9bit - left relay
• 10bit - clk2 left motor shield (Wheel left motor - A2 input)
• 11bit - clk1 left motor shield (Hand left motor - A1 input)
• 12bit - cnt1 left motor shield (Hand left motor - B1 input)
• 13bit - cnt2 left motor shield (Wheel left motor - B2 input)
• 14bit - en1 left motor shield (Hand left motor)
• 15bit - en2 left motor shield (Wheel left motor)
• 16bit - left LED light

bites recieve by register from first to last: from 1 to 16

(First byte - right)

• 1bit - LR2B encoder (Hand outer right encoder - B signal)
• 2bit - LR1B encoder (Hand internal right encoder - B signal)
• 3bit - LL2B encoder (Hand outer left encoder - B signal)
• 4bit - LL1B encoder (Hand internal left encoder - B signal)
• 5bit - LL1A encoder (Hand internal left encoder - A signal)
• 6bit - LL2A encoder (Hand outer left encoder - A signal)
• 7bit - LR1A encoder (Hand internal right encoder - A signal)
• 8bit - LR2A encoder (Hand outer right encoder - A signal)

(Second byte - left)

• 9bit - freeInPin
• 10bit - freeInPin
• 11bit - freeInPin
• 12bit - freeInPin
• 13bit - R1A encoder (Wheel left encoder - A signal)
• 14bit - R1B encoder (Wheel left encoder - B signal)
• 15bit - R2B encoder (Wheel right encoder - B signal)
• 16bit - R2A encoder (Wheel right encoder - A signal)