Initial Commit

README.md

@@ -1,2 +1,7 @@
-# ZeroBug
-DIY Hexapod Robot
+# ZeroBug - DIY Hexapod Robot
+
+Zerobug is a 3D-printed micro-servo hexapod robot powered by a Raspberry Pi Zero and a STM32F103. The Pi Zero is in charge of the input methods and front end, making the robot controllable via mouse, keyboard, multitouch or simply a Bluetooth Gamepad. To get the robot walking, the STM32 handles leg locomotion, inverse kinematics and controls its 18 servos.
+
+![](ZeroBug.JPG)
+
+![](walking.gif)

Raspberry Pi Software/app.py

@@ -0,0 +1,193 @@
+from aiohttp import web
+import socketio
+import asyncio
+from gpiozero import CPUTemperature
+import serial
+import pygame
+import os
+
+sio = socketio.AsyncServer()
+app = web.Application()
+sio.attach(app)
+loop = asyncio.get_event_loop()
+pygame.display.init()
+
+
+
+ser = serial.Serial(
+    port='/dev/ttyS0', #Replace ttyS0 with ttyAM0 for Pi1,Pi2,Pi0
+    baudrate = 115200,
+    parity=serial.PARITY_NONE,
+    stopbits=serial.STOPBITS_ONE,
+    bytesize=serial.EIGHTBITS,
+    timeout=0.01
+)
+
+async def serLoop():
+    line = []
+    while True:
+        await asyncio.sleep(0.2)
+        for c in ser.read():
+            line.append(chr(int(c)))
+            if chr(int(c)) == '\n':
+                strSeg = ''.join(line).replace("\n", "")
+                strSeg = strSeg.split(" ")
+                if(len(strSeg) > 0):
+                    if(strSeg[0] == 'v'):
+                        await sio.emit('volt', float(strSeg[1]))
+                line = []
+                break
+
+async def gameLoop():
+    while True:
+        try:
+            pygame.joystick.init()
+            # Check if there is a joystick
+            if(pygame.joystick.get_count()) < 1:   
+                pygame.joystick.quit()
+                await asyncio.sleep(1) 
+            else:   
+                joystick = pygame.joystick.Joystick(0)
+                break
+        except pygame.error:
+            pygame.joystick.quit()
+            await asyncio.sleep(1) 
+    while True:       
+        try:
+            await asyncio.sleep(0.01)
+            joystick.init()
+
+            if joystick.get_button(6):
+                ser.write(('g 1\n').encode('utf-8'))
+            if joystick.get_button(7):
+                ser.write(('g -1\n').encode('utf-8'))
+            if joystick.get_hat(0)[1] == 1:
+                ser.write(('t 0 0 -0.3\n').encode('utf-8'))
+            if joystick.get_hat(0)[1] == -1:
+                ser.write(('t 0 0 0.3\n').encode('utf-8'))
+
+            # Check for events
+            for event in pygame.event.get():
+                if event.type == pygame.JOYBUTTONDOWN:	
+                    if joystick.get_button(3):
+                        ser.write(('d\n').encode('utf-8'))
+                    elif joystick.get_button(4):
+                        ser.write(('u\n').encode('utf-8'))
+                    elif joystick.get_button(15):
+                        ser.write(('a\n').encode('utf-8'))
+                    elif joystick.get_button(11):
+                        ser.write(('b\n').encode('utf-8'))
+                    elif joystick.get_button(0):
+                        ser.write(('c\n').encode('utf-8'))
+                    elif joystick.get_button(1):
+                        ser.write(('o\n').encode('utf-8'))
+                    elif joystick.get_button(13):
+                        ser.write(('s\n').encode('utf-8'))
+                if event.type == pygame.JOYAXISMOTION:                        
+                    axis0 = joystick.get_axis(0)
+                    axis1 = joystick.get_axis(1)
+                    axis2 = joystick.get_axis(2)
+                    axis3 = joystick.get_axis(3)
+                    axis4 = (joystick.get_axis(4) -joystick.get_axis(5))/2
+
+                    msxString = "{:7.3f}".format(axis0*0.7)
+                    msyString = "{:7.3f}".format(-axis1*1.2)
+                    msrString = "{:7.3f}".format(axis4*0.8)
+                    yawString = "{:7.3f}".format(axis2/5)
+                    pitchString = "{:7.3f}".format(axis3/4)
+                    #print('m %s %s %s\n'%(msxString,msyString,msrString))
+                    if joystick.get_button(6):
+                        ser.write(('t %s %s 0\n'%("{:7.3f}".format(-axis0*20), "{:7.3f}".format(-axis1*32))).encode('utf-8'))
+                    else:
+                        ser.write(('m %s %s %s\n'%(msxString, msyString, msrString)).encode('utf-8'))
+                    ser.write(('r 0 %s %s\n'%(pitchString, yawString)).encode('utf-8'))
+                # Multiple events are generated for the same axis motion, so break after the first
+                break
+        except pygame.error:
+            await asyncio.sleep(1) 
+
+loop = asyncio.get_event_loop()
+loop.create_task(gameLoop())
+serialLoop = asyncio.get_event_loop()
+serialLoop.create_task(serLoop())
+
+def index(request):
+    with open(os.path.dirname(__file__)+'/index.html') as f:
+        return web.Response(text=f.read(), content_type='text/html')
+
+async def sendTemp():
+    while True:
+        await asyncio.sleep(3)
+        await sio.emit('temp', CPUTemperature().temperature)
+
+loop.create_task(sendTemp())
+
+async def heartbeat():
+    while True:
+        ser.write(('h\n').encode('utf-8'))
+        await asyncio.sleep(1)
+
+loop.create_task(heartbeat())
+
+@sio.on('connect')
+def chat_connection(sid, message):
+    print('---- connected ----')
+
+
+@sio.on('disconnect')
+def chat_disconnect(sid):
+    print('---- disconnected ----')
+
+@sio.on('mov')
+async def position(sid, msx, msy, msr):
+    msxString = "{:7.3f}".format(float(msx))
+    msyString = "{:7.3f}".format(float(-msy))
+    msrString = "{:7.3f}".format(float(msr))
+    #print('m %s %s %s\n'%("000.000",msyString,msrString))
+    ser.write(('m %s %s %s\n'%(msxString,msyString,msrString)).encode('utf-8'))
+    await asyncio.sleep(0.005)
+
+@sio.on('rot')
+async def position(sid, yaw, pitch, roll):
+    yawString = "{:7.3f}".format(float(yaw/6))
+    pitchString = "{:7.3f}".format(float(pitch/6))
+    rollString = "{:7.3f}".format(float(roll/6))
+    ser.write(('r %s %s %s\n'%(rollString, pitchString, yawString)).encode('utf-8'))
+    await asyncio.sleep(0.005)
+
+@sio.on('pos')
+async def position(sid, message):
+    if message == 1:
+        ser.write(('u\n').encode('utf-8'))
+    if message == 0:
+        ser.write(('d\n').encode('utf-8'))
+    await asyncio.sleep(0.005)
+
+@sio.on('gait')
+async def position(sid, message):
+    if message == 1:
+        ser.write(('a\n').encode('utf-8'))
+    elif message == 0:
+        ser.write(('b\n').encode('utf-8'))
+    await asyncio.sleep(0.005)
+
+@sio.on('claw')
+async def position(sid, message):
+    if message == 1:
+        ser.write(('c\n').encode('utf-8'))
+    elif message == 0:
+        ser.write(('o\n').encode('utf-8'))
+    await asyncio.sleep(0.005)
+
+@sio.on('power')
+async def position(sid, message):
+    if message == 1:
+        print('power down')
+
+app.router.add_get('/', index)
+
+if __name__ == '__main__':
+    web.run_app(app, host='0.0.0.0', port=3000)
+    loop.run_forever()
+    serialLoop.run_forever()
+