FRC-2017 Notes

RoboRio

The RoboRio hostname is roborio-852-frc.local. The configuration page is at: http://roborio-852-frc.local

Raspi Names

#	Name	Static IP Address	Repos
11	camera-gear.local	10.8.52.103	common-robotics, FRC-2017, object-tracker
18	camera-rope.local	10.8.52.104	common-robotics, FRC-2017, object-tracker
10	lidar-gear.local	10.8.52.105	common-robotics, FRC-2017
24	lcd1.local	10.8.52.100	common-robotics, FRC-2017
12	mqtt-turtle.local	10.8.52.102	none

MQTT Topics

Name	Description
camera/gear/x	Camera center position and screen width (String:String)
camera/gear/peg/x	Peg position and screen width (String:String)
camera/gear/dualtape/x	Avg dual tape position and screen width (String:String)
camera/gear/alignment	Camera relative to object (String)
lidar/left/mm	Left lidar distance (String)
lidar/right/mm	Right lidar distance (String)
lidar/front/cm	Front lidar distance (String)
lidar/rear/cm	Rear lidar distance (String)
heading/degrees	Heading degrees (String)
heading/calibration	Calibration status (String)
metrics/msg_rate	Msgs/Sec (String)
logging/camera/gear/alignment	Logging info (String)
logging/lidar/gear/distance	Logging info (String)
logging/heading/degrees	Logging info (String)
logging/metrics/msg_rate	Logging info (String)

Arduino Device IDs

Location	ID
Heading (Arduino)	95530343235351A0E0A2
Heading (Metro)	00FEBA85
Left lidar	7543331373935160E190
Right lidar	95538333535351019130
Front lidar	00FEBA8B
Rear lidar	00FEBA73

Heading Sensor

The heading sensor calibration is described here

Metro Mini SNs

Metro Minis do not report their SN via the Arduin IDE. Use:

$ cd git/common-robotcs
$ ./metro_minis.py

SSH Setup

• SSH Configuration
• Using SSH without a password

Remote repo setup for Raspis

Setting up remote repos on Raspis will allow you to push changes to Raspis without the Raspis have access to github.

• OSX Configuration
• Raspi Configuration

Raspi launch scripts

• Makefile commands
• Raspi boot scripts

Camera Image Requirements

• Repos: common-robotics, FRC-2017, object-tracker

PIP requirements

Raspbian with the pysearchimages distro (has OpenCV 3.2 package):

$ source start_py2cv3.sh
$
$ pip install --upgrade setuptools pip
$ pip install -r pip/requirements.txt
$ pip install -r pip/opencv-requirements.txt
$
$ pip3 install --upgrade setuptools pip
$ pip3 install -r pip/requirements.txt
$ pip3 install -r pip/opencv-requirements.txt

Vanilla Raspbian:

$ sudo pip install --upgrade setuptools pip
$ sudo pip install -r pip/requirements.txt
$
$ sudo pip3 install --upgrade setuptools pip
$ sudo pip3 install -r pip/requirements.txt

apt-get requirements

$ sudo apt-get install git
$ sudo apt-get install python
$ sudo apt-get install python-dev
$ sudo apt-get install python-blinkt
$ sudo apt-get install nginx

/etc/rc.local scripts

These snipets are appended above exit 0 statement:

lidar-gear:

~pi/git/FRC-2017/boot/lidar-gear-startup.sh

camera-gear:

~pi/git/FRC-2017/boot/camera-gear-startup.sh

camera-rope:

~pi/git/FRC-2017/boot/camera-rope-startup.sh

lcd1:

~pi/git/FRC-2017/boot/lcd1-startup.sh

/etc/ssh/sshd_config edits for turning off reverse DNS lookup

Details are here

Add this line to the bottom of /etc/ssh/sshd_config:

UseDNS no

Restart sshd with:

$ service ssh reload

/etc/dhcpcd.conf edits for Raspi static IP addresses

Details are here.

lidar-gear.local

interface eth0
static ip_address=10.8.52.105/24
static routers=10.8.52.1
static domain_name_servers=10.8.52.1

camera-gear.local

interface eth0
static ip_address=10.8.52.103/24
static routers=10.8.52.1
static domain_name_servers=10.8.52.1

camera-rope.local

interface eth0
static ip_address=10.8.52.104/24
static routers=10.8.52.1
static domain_name_servers=10.8.52.1

mqtt-turtle.local

interface eth0
static ip_address=10.8.52.102/24
static routers=10.8.52.1
static domain_name_servers=10.8.52.1

lcd1.local

interface eth0
static ip_address=10.8.52.100/24
static routers=10.8.52.1
static domain_name_servers=10.8.52.1

Connecting to robot Raspis

When connecting to the robot Raspis, manually set your IP address to 10.8.52.201 and netmask to 255.0.0.0.