Index. Jeff Cicolani 2018 J. Cicolani, Beginning Robotics with Raspberry Pi and Arduino,

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1 A Accessor methods, 92 Adafruit, 9 Adafruit DC & Stepper Motor HAT assembling board adjustment, 199 circuit board, 199 kit, 197 pins, 197 preparation, 197 Raspberry Pi, 198, 204 removal, 201 rotation, Pi and solder, 201 screw terminals, 201 soldering, terminal pins, 203 terminal blocks, circuit board, 202 coding, controller connection, terminal block, HDMI connection, 204 leads soldered to motor terminals, 206 micro USB and HDMI connectors, 204 Raspberry Pi, 205 terminal blocks, 204 tinned lead, 207 install Python libraries, 210 motor driver, 196 mounting electronics, 196 single motor, , 214 turning two motors, 214, Amperage, Analog-to-digital converter (ADC), 131 Arduino control structures for loops, functions, if and else, while loops, 157 definition, 133 development boards, 132 IDE programming (see Arduino IDE) Mega board, 133 objects and classes, 167 Pinguino, pins analog input and output, 164 circuit, digital operations, 163 Jeff Cicolani 2018 J. Cicolani, Beginning Robotics with Raspberry Pi and Arduino, 355

2 Arduino (cont.) LED pulse, 165 pinmode() function, 162 programming C and C++ method, 150 character, numbers, 153 Python, 149 String object, variables and data types, Raspberry Pi, receiving serial data, serial connection, sending serial data, 169 shields, 134 to Pi installing PySerial, 172 sending data to Arduino, sending data to Raspberry Pi, Arduino IDE, 347 board and port selection, 140 create new tab, 145 icons and menu, INO files, 143 installing, 135 sketch (see Sketches) tabs and files, tab management menu, 144 Arduino Uno, 6, 11, 12, 132, 133, 136, 146 Arguments, 83 Arrays, 69 Autodesk Inventor, 351 B Ball-chasing bot, 333 Bill of materials (BOM), 9 11, 13, 15 Blob detection, 325 draw circle, 326, 328 feature extraction, 325 filters, parameters, 326, SimpleBlobDetector class, 326 tracking, 330 Brushless motors, C CAD software, 344, 350 Calltips, 54 Camel case, 101 Cascades, 298 Chassis materials, 230 mounting electronics Arduino mounted, double layer, 243, 244 clip protruding, top plate, 241 double layer, breadboard,

3 leaving clearance, USB cable, 245 mounted breadboard, 243 Raspberry Pi, 240 Whippersnapper (see Whippersnapper) Circuit board design, Code styling blank lines, 100 commenting, 100 naming conventions, Commercial parks, 353 Commercial programs, 348 Computer vision camera install, select, cascades, 298 definition, 297 3D model, 298 facial detection, 298 feature extraction, 298 motion tracking, 298 OpenCV (see OpenCV) Concatenation, 66 Control loops, 289 D Data types dictionaries, lists, none type, 74 numbers, strings, tuples, 71 DC motors, Derivative control, 290 Design software, robotics, 347 3D model, 298 E Erector Sets, 250 F Fing, 43 for loops, 78 79, FOURCC code, 313 Fritzing, 349 Fusin 350, 360 G Graphical user interface (GUI), 4 Grayscale, H Hard-and-fast rules, 62 Hardware tools, robotics basic, makerspaces, 353 specialty, 353 H-bridge motor controller, 218 Helper methods,

4 I, J, K if statement, if and else statement, Infrared detectors, 269 Infrared (IR) sensors Arduino code, 279 connection, interrupt sensors, 271 line sensors, mounting, 276, 278 PIR motion detectors, Python code, 280 reflectance sensors (see Reflectance sensors) Inkscape, 348 Instantiation, 98 Integral control, 290 Interpolation, 318 Interrupt sensors, 271 L L298N dual motor controller, 14 L298N generic motor driver Arduino Code, benefits and faults, 218 chip, 217 connection method, 219 H-bridge motor controller, single motor, two motors, LED circuit, polarity, 111 T-Cobbler, 110 writing code, Light sensor, 131 Linux, 3 4 M Makerspaces, 353 Microcontroller, 7, 129 Microsoft s Visual Studio, 346 Mobile robotics, 1 Motion tracking, 298 Motors amperage, controllers Adafruit DC & Stepper Motor HAT, 196, , 214, 217 DC & Stepper Motor HAT, 195 L298N generic motor driver, drivers, 195 GPIO pins, 187 L298N H-bridge controller chip, 187 types of brushless, DC motors, energy convertion, 188 steppers, voltage,

5 Mounting sensors approaches, 249 Erector Sets, 249, 250 insulation, 250 sensor shield, 251 ultrasonic rangefinders, 252 ultrasonic sensors, 251 Mutator methods, 92 N Naming conventions, 100 New Out Of the Box Software (NOOBS), 17 None type, 74 O OpenCV, 3, 19 blob (see Blob) color filters, color spaces, images capturing video, display, 307 flip() method, 317 imshow() function, 306 live video stream, 308 open file, 309, 311 read video from file, record video, 313, 315 resize() method, still image, 308 viewing camera, installing, NumPy library, 306 simple tasks, 305 Operating system (OS), 17 P, Q Passing arguments, 83 Passive infrared, 268 Pi Camera, Pinguino Arduino code, circuit layout, 182 Raspberry Pi code, 184 PIR motion detectors, Proportional, integral, and derivative (PID) control algorithm, 291 control loops, 289 derivative control, 290 integral control, 290 proportional control, 290 Raspberry Pi code, 293 variables, 291 Pulse-width modulation (PWM), 108, , PyCharm IDE, 346 Python, 2 accessing GPIO, Boolean type, 67 code styling control structures for loop,

6 Python (cont.) if statement, while loop, data types (see Data types) downloading and installing, editor, functions default value, 84 defining, passing arguments, 83 print(), 81 pseudo code, return value, 84 hello world, 57 comments, indentations, 59 program parts, 58 run program, 61 modules custom, extended, help() function, importing, 85 overview, 49 robot class accessor methods, 92 attributes, 92 building, 95 96, get() and set() methods, 95 helper methods, 92 init. The init method, 92 initial sample, methods, 91 mutator methods, 92 shell, tools, 50 variables, 62, website, 48 zen of, Python 3, 49 R Raspberry Pi Arduino to installing PySerial, 172 programs, BitTorrent client, 20 configuration, 26 downloading and installation Raspbian, easy way method, headless network, remote access, 38 remote desktop, xrdp, SSH with PuTTY, installation process, OpenCV, 19 Pinguino, 184 PIXEL, 19 readline() method, SD Card Formatter, 21 Serial.print() commands,

7 USB ports and HDMI connector, users default username, securing root, 35 Win32 Disk Imager, 22 wireless network, 37 Raspberry Pi GPIO Adafruit T-Cobbler Plus, analog input, 131 analog output, hats/plates, 106 header, limitations, near-real-time processing, 130 Pi Cobbler, 106 pin numbering, push-button, Python, real time processing, 130 sonic rangefinder, USB ports, 103 Raspbian, 4 Raspi-config command-line terminal, 27 Console Autologin, 33 hostname and service activation, 31 I2C, 33 NOOBS, 27 OS-level options, 29 password change confirmation, 30 SSH client, 32 terminal window, 28 Reflectance sensors IR radiation, 268 line and edge detection, rangefinders, 270 Robotics, 49 BOM, 9 11, 13, 15 concepts, 343 definition, 1 elements, 2 GPIO, 4 infrared sensors, 2 Linux, 3 4 mobile, 1 motion and control, 5 motor control board and Raspberry Pi, 9 OpenCV, 3 Pi s limitations, 343 and programming, 343 Python, 2 Raspberry Pi and Arduino, 5 7 sensors, 4 tools hardware (see Hardware tools, robotics) software (see Software tools, robotics) types of, 344 ultrasonic range finders, 2 ultrasonic sensors and Pi T Cobbler, 8 361

8 Robot mobile Arduino code, behavior, 255 motors, 254 Raspberry Pi code, sensors, 254 Roomba, 1 S ServoCity, 9 Servos, Sketches creating, 139 examples, Hello Arduino, ledpin, 147 loop function, one second delay, 149 opening exiting, 139 programming, 145 Python, 145 save, 139 setup function, 148 SketchUp, 350 Skid steering, 254 Software tools, robotics choosing IDE, design circuit board, 349 3D design, D drawing, projects and building styles, 347 Sonic rangefinder, Standard CAD program, 350 Stepper motors multiple coils, 190 operation, 191 servos, single electrical charge, 190 Strings definition, 63 manipulation, raw string, 64 T Tank drive, 254 Text editor, Tuples, 71 U USB web camera, 302 V Visual Studio, 346 Voltage, 193 W, X, Y while loops, 79 81, 157 Whippersnapper bottom plate, 237 center support, 232 complete robot,

9 motor wires, 238 motor with tab, 234 mounted motor, parts, 231 top plate, 233 Windows, 347 Wireless network, 37 Wiring Z motor and external battery pack wires, 248 ribbon cable, T-cobbler, USB cables, 246, 247 Zen of Python,

2.Raspberry PI: Architecture & Hardware Specifications

Course Contents: 1.Introduction to RASPBERRY PI Introduction to Open Source Hardware About Raspberry PI Brief Introduction to Hardware Parts & Usability 2.Raspberry PI: Architecture & Hardware Specifications