carl's Introduction

Carl

Robot Carl based on Dexter Industries GoPiGo3

Carl Specs:

Platform: GoPiGo3 from DexterIndustries.com
Processor: Raspberry Pi 3 B
- 1.2 GHz Max
- Four Cores
- 1GB Memory
- Onboard WiFi
OS: Raspbian For Robots
- version: 17 Oct 2020 (beta) PiOS based
Control Interfaces:
- ssh over WiFi
- TightVNC (Mac Remote Desktop)
- apache2 VNC in browser
- apache2 console
Sensors (GoPiGo3 Intrinsic)
- Battery_Voltage (GoPiGo3 intrinsic)
- Regulated_5v_Voltage (GoPiGo3 intrinsic)
- Magnetic Wheel Encoders 720 cnt/rev (GoPiGo3 intrinsic)
Sensors (Raspberry Pi Intrinsic)
- Processor Temperature
- Processor Low Voltage Throttling Active / Latched
- Processor Temperature Throttling Active / Latched
Sensors (Added):
- DI Distance Sensor (VL53L0X Infrared Time-Of-Flight) 25 deg beam width, About 4% accuracy to 7.5 feet (2.3m) Mounted on Tilt/Pan
- Pi-Camera v1.3
- USB Microphone
- DI Inertial Measurement Unit (BNO055 9DOF Fusion IMU) also provides ambient temperature
Actuators/Effectors (GoPiGo3 Intrinsic)
- Wheel Motors
- Multi-color programmable LED (x3)
- Program controlled Red LED (x2)
- Tri-color Battery Voltage Indicator
Actuators/Effectors
- Two Servo Tilt/Pan Assembly
- MonkMakes 2.5W Audio Speaker (draws 9.5mA 5v at idle)
- [USB WiFi Dongle draws additonal 100mA at 5v]
Available GoPiGo3 Ports
- I2C: Distance Sensor
- I2C: Unused
- Grove Analog/Digital I/O AD1: Unused
- Grove Analog/Digital I/O AD2: Unused (pwr/gnd for speaker)
- SERVO1: Pan Servo
- SERVO2: Tilt Servo
Power Source: 8x 2000mAH NiMH AA cells (Eneloop)
- Cliff at 7.4v (0.925 volts / cell)
- Cycling to 8.1v allows two missed docking before safety shutdown
- cycleConditioning to 7.9v four times to treat NiMH battery memory when play-time drops off 10%
- Charging at 0.9A for 4 hours ( 92degF max battery temp )
- Provides around 8 hours "playtime"
Run Time: 8 to 8.5 hours max
- "Thinking" 8 hours using 8.1v "need to dock" limit
- "Wandering" 2-4 hours to 8.1v recharge point
- About 9 hours to 7.4v voltage cliff
Recharger:
- Tenergy 1005 7.2-12v Delta-Minus-V Peaking Charger
- Set at 0.9A (Selectable 0.9A or 1.8A max rate) (1.8A rate causes 130degF max battery temp!)
Physical:
- 41.5 Ounces Total
- 6" wide x 9" Long x 12" High
First "Life": August 2018

carl's People

Contributors

Stargazers

Watchers

carl's Issues

Need to check if encoders give negative wheel turn values for left turns

Useful for scan method in scan and navigation

Stream and OpenCV

Greetings and congrats for your robot!

I was trying to add OpenCV to the streaming example (https://github.com/slowrunner/Carl/tree/master/Examples/pycam/pistreaming).

The idea for a start is to draw a simple square on top of the video. I understand this can be done either in the class StreamingOutput(object) or in the class StreamingHandler(server.BaseHTTPRequestHandler), and the code for the rectangle will look like that: cv2.rectangle(cv2.imread(self.buffer), start_point, end_point, color, thickness)

However when I try to do so the stream breaks and I only see the blank screen the the waiting for stream message.

Any idea on how to make it work?

Recommend Projects