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RicMonk: basic information

Mechatronic design and integration of the RicMonk is addressed here.

Raspberry Pi and its setup instructions

Raspberry Pi4(setup instructions) is used as a proccessing unit for the RicMonk. Since the Raspberry Pi is housed in the RicMonk, communication to the Raspberry Pi is executed over WiFi using a server computer. An SSH connection is established over WiFi between the server and the Raspberry Pi. To do so, the following steps may be utilized:

  • Setup a router
  • Connect the Raspberry Pi to a keyboard, a mouse, and a monitor and then power it up
  • Connect the Raspberry Pi to the router via WiFi
  • Connect the server computer to the router via WiFi
  • Get the IP address of the Raspberry Pi using the command hostname -I on the Raspberry Pi command line -Enable SSH/VNC by using sudo raspi-config in the Raspberry Pi command line
  • Given the username of the Raspberry Pi is pi and the IP address is ipaddress use the command ssh pi@ipaddress the command line of the server

Once all this is set up, there is no requirement to connect the Raspberry Pi to the peripherals anymore. It can be used via SSH.

Information required for pi3hat configuration and commanding motors using tview has been detailed below.

Moteus tools and Raspberry Pi

Welcome to the documentation for the Pi3hat and Raspberry Pi (RPi) integration. This guide is organized into the following sections:

  • Installation
  • Sending Commands Using tview
  • Useful Terminal Commands
  • IMU Sensor Data Readings

Installation

To get started, you'll need to install the necessary dependencies. Follow these steps:

  1. Install moteus and moteus_pi3hat by running the following commands:
pip3 install moteus
sudo apt install python3-pyside2* python3-serial python3-can python3-matplotlib python3-qtconsole
sudo pip3 install asyncqt importlib_metadata pyelftools
sudo pip3 install --no-deps moteus moteus_gui
sudo pip3 install moteus_pi3hat

If you encounter issues related to the PySide2 dependency, execute these commands:

pip install PySide2
pip3 install PySide2
sudo apt install python3-pyside2* python3-serial python3-can python3-matplotlib python3-qtconsole

Afterward, try installing moteus_pi3hat again:

sudo pip3 install moteus_pi3hat

Sending Commands Using tview

Depending on your specific configuration, which includes the bus connected (e.g., CAN) and motor ID, you can use the tview tool to connect to your motors. Execute the following command, replacing BUS and MOTOR_ID with your actual values:

sudo python3 -m moteus_gui.tview --pi3hat-cfg 'BUS=MOTOR_ID' -t MOTOR_ID

For instance, if your CAN connector is attached to JC3 and the motor ID is 1, use the following command:

sudo python3 -m moteus_gui.tview --pi3hat-cfg '3=1' -t 1

Useful Terminal Commands

You can control and manage your motors using terminal commands. To stop or zero-offset a motor, execute these commands, ensuring you adjust the --pi3hat-cfg and -t options according to your setup. For example, if your CAN connector is connected to JC3 and the motor ID is 1, use the following commands:

  • Zero-offset the motor:
sudo moteus_tool --zero-offset --pi3hat-cfg '3=1' -t 1
  • Stop the motor:
sudo moteus_tool --stop --pi3hat-cfg '3=1' -t 1

Important Note for Motor and Pi3hat Configuration

Please note that the motor ID for the system is currently set to 7. Additionally, the only compatible buses with the Pi3hat are J3 and J5. To connect to the motor with the current configuration, use one of the following commands:

sudo python3 -m moteus_gui.tview --pi3hat-cfg '3=7' -t 7

or

sudo python3 -m moteus_gui.tview --pi3hat-cfg '5=7' -t 7

IMU Sensor Data Readings

Reading IMU Data from Terminal

To access IMU data, you will need the pi3hat_tools. You can download a precompiled version of pi3hat_tools by following this link.

Note: If your Raspberry Pi does not have an internet connection, you can download the file on your laptop and transfer it to the Raspberry Pi using the steps outlined here.