Kira

Kira represents our state-of-the-art robotics solution that competed in the 2023 France Robotic Cup, helping us achieve a commendable 5th place finish. Developed in C++, it is implemented on a Raspberry Pi 4 and communicates with an Arduino Nano through the I2C interface. Kira is designed to efficiently manage all of the robot's movements and actions.

Remote Connection to Raspberry Pi Using Visual Studio Code

1. First, ensure that the Remote - SSH extension is installed in your Visual Studio Code environment.
2. Open Visual Studio Code, press F1 to open the command palette, type Remote-SSH: Connect to Host..., and hit Enter.
3. When prompted, enter the Raspberry Pi's IP address [email protected] and press Enter.
4. Next, input the password for authentication. The password is noted in the blackboard.

Accessing the Project Directory

Upon successful connection, open the integrated terminal in Visual Studio Code and navigate to the project directory with the following command: cd Documents/Kira/src/cpp.

Uploading Arduino Code

If there have been modifications in the Arduino's code, upload these changes by running: ./Kira -u. Note that the arduino code should be uploaded only if you change something in the arduino's code.

Starting the Robot

To bring the robot to life, use: ./Kira.

Stopping the Robot

In order to halt the robot, issue: ./Kira -s.

Monitoring the Arduino Output

To inspect the Arduino's serial port output, utilize the following command: sudo screen /dev/ttyUSB0 9600.

Precautionary Measures

Before you attempt to upload the Arduino's code, it's essential to ensure the /dev/tty/USB0 port isn't being used. This can be checked by executing: sudo fuser /dev/ttyUSB0. If the port is occupied, terminate the process using: sudo kill <pid>. Replace <pid> with the relevant process identifier, which can be obtained using the sudo fuser /dev/ttyUSB0 command.

Frequently encountered problem

After each restart of the robot, it happens that the ports /dev/ttyUSB of the arduino and the lidar are reversed, to resolve this, simply change the file LidarController.cpp the port number, either /dev/ttyUSB0 or /dev/ttyUSB1, and to change if necessary to upload the arduino code, the variable named ARDUINO_PORT in the file Main.cpp

For Assistance

If you encounter any roadblocks or have queries, do not hesitate to contact me, Iliasse MOUFLIH, on any of my social media platforms.