pwoosam / rov-lb Goto Github PK

We need documentation to describe how to use the custom classes in our code and how to use them. We also need documentation to describe how messages are passed from Pi to Arduino and vice-versa over I2C.

I have only implemented the elevator thruster (The one that goes up and down). We still need the left and right thrusters to be implemented so that we can send messages to them from the Pi and get them moving. Implementation of the left and right thrusters should be almost identical to my implementation of the elevator thruster.

Here are some examples of messages to the Arduino that move the elevator thruster. The left and right thrusters should be similar.

from i2c_master import Arduino

ard = Arduino()
ard.send('255', register=0x10)   # Move the elevator thruster up at full speed
ard.send('10', register=0x10)    # Move the elevator thruster up at a slow speed
ard.send('0', register=0x10)     # Turns off the elevator thruster
ard.send('-255', register=0x10)  # Move the elevator thruster down at full speed

I would like to be able to move the left and right thrusters in a similar fashion.
For example:

ard.send('255', register=0x11)   # Move the left thruster forward at full speed
ard.send('-255', register=0x12)  # Move the right thruster backward at full speed

We need someone to write the readme for this project.

The README.md should contain:

• A description of what the software is used for and maybe some pictures of the ROV
• Some information about the rov competition. Like objectives that must be met by the participants and what we are trying to achieve with our ROV
• Dependencies for the Python scripts
• Instructions for installing and running the software on the Pi and Arduino
• Instructions for wiring the Arduino to the Pi and other peripherals, possibly using a diagram
• Anything else you think would be appropriate. Suggestions?

Reading issue #3 will assist you in moving the thrusters. Although the left and right thrusters have not been implemented yet (not until issue #3 is resolved), you could probably figure out which messages and registers control which thrusters if you read issue #3.

We need to implement the following:

Since we already have Arduino to Pi communications down, we can write a Python script that reads buttons from the Pi's GPIO inputs.

See the documentation here for details on how to use the RPi.GPIO library for reading GPIO inputs on the Pi.

I would recommend using some code like this:
GPIO.add_event_detect(channel, GPIO.FALLING, callback=my_callback, bouncetime=200)
where channel is the GPIO pin the button is connected and my_callback is a function that checks if the button is still pressed. While the button is still pressed, the pi sends a message telling the arduino to do something. If the button is no longer pressed, then have the pi send a message telling the arduino to stop doing that thing.