chilaspt / rcute-cozmars-server

firmware for Cozmars robot

rcute-cozmars-server

Firmware for Cozmars V2

Upgrades compared to V1

• buzzer is replaced by a speaker
• motors are slightly faster

Setup

• sudo raspi-config

  • enable ssh, i2c, spi, camera, and disable serial.
  • then set rpi's host name as 'rcute-cozmars-xxxx', 'xxxx' being the last 4 digit of mac address.
  • set your locale.
  • memory split and set 128 or 256 for GPU (not sure if this is needed)

• enable microphone according to adafruit article

• enable i2s amp(speaker) according to adafruit article, say 'N' to playback service.

• make rpi auto generate wifi hotspot when unable to connect to your wifi router, this article from raspberryconnect will help

• install required libs

  1. build portaudio from latest(2020 Dec) source for a new bug fix

     wget https://github.com/PortAudio/portaudio/archive/master.zip
     unzip portaudio-master.zip
     cd portaudio-master
     ./configure && make && sudo make install
     

     in the future you can simply apt install libportaudio2
  2. install other libs

     sudo apt install libtiff5 libopenjp2-7 python3-cffi portaudio19-dev python3-pip
     

• install rcute-cozmars-server

   sudo python3 -m pip install rcute-cozmars-server==2.*
   mkdir ~/.cozmars
   wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/conf.json -P ~/.cozmars
   wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/env.json -P ~/.cozmars
   sudo wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/cozmars.service -P /etc/systemd/system
   sudo systemctl enable cozmars.service
   sudo wget https://raw.githubusercontent.com/r-cute/rcute-cozmars-server/master/cozmars.avahi.service -P /etc/avahi/services
   sudo reboot
  

Electronic parts

• raspberry pi zero w
• 15cm cable 72° lens OV5647 camera
• 9g plastic blue servo X3
• PCA9685 16-channel servo driver with capacitor (bend straight the 90° pins)
• 1.14 inch color display
• 3v 15r/m 30r/m N20 motor X2
• L298N motor driver
• infrared sensor X2
• ultrasonic distance sensor (3.3v compatible)
• 12mmx12mm button
• 112D on/off power button
• INMP441 microphone (use 90° pins)
• 3.7v battery (important: not 7.4v)
• buzzer
• MAX98357 amp
• 35x20mm 8om 1w cavity speaker
• and many 10cm wires (use soft silicone wires to connect display)

Some of the pins are interchangable if you configure ~/.cozmars/conf.json file accordingly. But pins of spi/i2s/i2c buses can't be changed.

License

This project is open sourced for educational purpose, Commercial usage is prohibited.

Related stuff

• 3d model and build instructions: https://www.thingiverse.com/thing:4657644
• python sdk: https://github.com/r-cute/rcute-cozmars