This guide assumes your Pi is dedicated to this project as an embedded system, and you are logged in as the root user to manage it.

Some useful links are:

• https://learn.adafruit.com/adafruit-16-channel-pwm-servo-hat-for-raspberry-pi/using-the-python-library
• https://learn.adafruit.com/circuitpython-on-raspberrypi-linux

Run the following commands:

apt update

# Avoid any python 2/3 confusion by just removing python2
# and installing python3
apt remove -y python2   
apt install -y python3 python3-pip pipenv i2c-tools libatlas-base-dev
ln -s /usr/bin/python3 /usr/bin/python
ln -s /usr/bin/pip3 /usr/bin/pip

# Configure the Pi (enable I2C & camera)
raspi-config nonint do_i2c 0
raspi-config nonint do_camera 0

Download/clone this repo to /opt/robot and cd into it. This project uses Pipfile and Pipfile.lock, to specify all Python dependencies.

Install them with:

    pipenv install --system

Using Pipfile for all Python dependencies ensures a deterministic and repeatable process, and avoids conflicts between system (apt) provided dependencies and python (pip) ones.

To set a servo on the command line run:

./cmd.py <servo> <angle>

Or start the website with:

./website.sh

There is a systemd file to start the website automatically. Install it with:

cp /opt/robot/robot.service /etc/systemd/system/
systemctl daemon-reload
systemctl start robot
systemctl enable robot