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#CGPiO Copyright 2013 Russell Barnes [email protected]

###CGPiO is a Raspberry Pi robot I've built from the frindo.org robot platform. This is all pretty new to me, so if you've got any tips/advice drop me a line!

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THEORY:

• Wheel diameter: 42mm
• Wheel circumference: (42*3.14) = 131.88mm (13.19cm per revolution).
• Motor RPM (50:1 micro motor @6v) = 250rpm
• 4.16 revolutions per second = 54.87cm per second - approx 1 meter every 2 seconds.

PRACTICAL:

• CGPiO weighs 800g so travels 35cm per second on 4 fresh AA batteries.
• That's 1 meter every 2.86 seconds.

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#Simple, functional control

• sensorfuncs.py will expand to include other sensors beyond 4 Sharp SY0A21's.
• Motorfuncs.py holds all the main motor controls with the following functions:

speed(x): set the speed of both motors together. 0 == off - 100 == full"""

stop(): Stops your robot should you need it to

end(): Stops the robot and cleans up the GPIO pins - use to finish your program

go_forward(x, y): Move the robot forward at x speed (0-100) for y seconds

go_back(x, y): Move the robot forward at x (0-100) speed for y seconds

spin_right(x): Turns robot by number of degrees (from original facing direction) in a range between 0 and 360 degrees to the right

spin_left(x): Turns robot by number of degrees (from original facing direction) in a range between 0 and 360 degrees to the left

turn_right(x, y): Gradually turn your robot right, where x (0 == sharp turn to 100 == no turn) relates to sharpness and y is the time the robot will continue to turn

turn_left(x, y): Gradually turn your robot right, where x (0 == sharp turn to 100 == no turn) relates to sharpness and y is the time the robot will continue to turn

#Next steps:

• Measure at various motor speeds to produce accurate turning circles at any speed
• Alter movement functions to allow for travel distance in meters
• Map sensor readings to turns/spins to create more intelligent behaviour
• 'lock onto' and 'track' functions (for mapping and swarming)

#License This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.