雖說 GoPiGo 可以用八顆『 AA 電池』

AA battery

The AA battery—also called a double A or Mignon (French for “dainty”) battery—is a standard size single cell cylindrical dry battery. The IEC 60086 system calls it size R6, and ANSIC18 calls it size 15.^[1] Historically, it is known as HP7 in official documentation the United Kingdom, though it is colloquially known as a “double A battery”.

AA batteries are common in portable electronic devices. An AA battery is composed of a single electrochemical cell that may be either a primary battery (disposable) or a rechargeable battery. The exact terminal voltage and capacity of an AA size battery depends on cell chemistry; however, devices designed for AA will usually only take 1.5 V unless specified by the manufacturer.

Introduced in 1907,^[2] the AA battery size was standardized by the American National Standards Institute (ANSI) in 1947, but it had been used in flashlights and electrical novelties for some time before formal standardization. ANSI and IEC Battery nomenclature gives several designations for cells in this size, depending on cell features and chemistry.

AA cells

 

來操作，基於目的、費用、使用時間長短，務需慎選也。之前作者曾用可充電式『鎳氫電池』，美則美矣，不過充電耗時太長，而且大容量電池太貴。今已量得 Raspberry 3B + WiFi + Camera 至少需要 5V/0.5A 以上功率！尚不及於馬達、伺服機制、CPU/GPU 消耗 …… 等等的哩！！

3. Power Up

因此突發奇想查核電路︰

 

，驗證 USB 『行動電源』乎？

……

『八腳章魚』的作法，打算直接用『行動電源』

USB Battery Pack for Raspberry Pi – 10000mAh – 2 x 5V outputs

Description

─── 摘自《樹莓派 0W 狂想曲︰ 不大聲以色《♪♪》》

 

熟料目前 OK 耶☆

 

 

 

 

 

 

 

 

 

不預期之事一旦發生，該說什麼呢？本來好好的 WiFi ，更新後︰

pi@raspberrypi:~  

 

出現

 

問題？谷歌查訪

WARNING: CPU: 1 PID: 1167 at net/wireless/sme.c:981 cfg80211_connect+0x234/0x588 [cfg80211]() #1607

 

也見徵候︰

[    7.128219] smsc95xx 1-1.1:1.0 eth0: hardware isn't capable of remote wakeup
[    7.294883] ------------[ cut here ]------------
[    7.295105] WARNING: CPU: 0 PID: 6 at net/wireless/sme.c:948 __cfg80211_disconnected+0x4a4/0x4fc [cfg80211]
[    7.295144] Modules linked in: bluetooth joydev evdev cdc_acm brcmfmac brcmutil snd_bcm2835 snd_pcm spidev snd_timer spi_bcm2835 snd i2c_bcm2835 bcm2835_gpiomem 8192cu cfg80211 rfkill fixed uio_pdrv_genirq uio i2c_bcm2708 i2c_dev fuse ipv6
[    7.295213] CPU: 0 PID: 6 Comm: kworker/u8:0 Not tainted 4.9.24-v7+ #993
[    7.295217] Hardware name: BCM2835
[    7.295412] Workqueue: cfg80211 cfg80211_event_work [cfg80211]
[    7.295447] [<8010fb3c>] (unwind_backtrace) from [<8010c058>] (show_stack+0x20/0x24)
[    7.295460] [<8010c058>] (show_stack) from [<80455200>] (dump_stack+0xd4/0x118)
[    7.295470] [<80455200>] (dump_stack) from [<8011d2c4>] (__warn+0xf8/0x110)
[    7.295479] [<8011d2c4>] (__warn) from [<8011d3ac>] (warn_slowpath_null+0x30/0x38)
[    7.295631] [<8011d3ac>] (warn_slowpath_null) from [<7f101ee8>] (__cfg80211_disconnected+0x4a4/0x4fc [cfg80211])
[    7.295856] [<7f101ee8>] (__cfg80211_disconnected [cfg80211]) from [<7f0d7bbc>] (cfg80211_process_wdev_events+0x1a0/0x1a8 [cfg80211])
[    7.296059] [<7f0d7bbc>] (cfg80211_process_wdev_events [cfg80211]) from [<7f0d7c00>] (cfg80211_process_rdev_events+0x3c/0x70 [cfg80211])
[    7.296251] [<7f0d7c00>] (cfg80211_process_rdev_events [cfg80211]) from [<7f0d2284>] (cfg80211_event_work+0x24/0x2c [cfg80211])
[    7.296360] [<7f0d2284>] (cfg80211_event_work [cfg80211]) from [<80136570>] (process_one_work+0x158/0x454)
[    7.296375] [<80136570>] (process_one_work) from [<801368d0>] (worker_thread+0x64/0x568)
[    7.296386] [<801368d0>] (worker_thread) from [<8013c7d8>] (kthread+0x10c/0x124)
[    7.296399] [<8013c7d8>] (kthread) from [<80108148>] (ret_from_fork+0x14/0x2c)
[    7.296484] ---[ end trace 165eb45beccce060 ]---

 

將如之奈何呦？？一時恐只能補過，強打補釘矣！！？？

wikiHow to Execute a Script at Startup on the Raspberry Pi

The Raspberry Pi computer is a great tool for creating all kinds of interesting DIY projects and computer-powered builds. Whether it be used as a media center, web server, gaming console, or simply a computer, there are countless reasons why you might need a particular program or script to automatically startup when the Raspberry Pi desktop loads. While there are as many ways to run scripts at startup as there are uses for the Raspberry Pi, executing a script when the desktop environment boots is the easiest method with the most versatility.

 

pi@raspberrypi:~ 

 

 

 

 

 

 

 

 

 

 

 

 

鑑於過去使用樹莓派 2B 跑 opencv

講到 RaspiCAM 之應用軟件程式庫，焉能不提及大名鼎鼎的

ABOUT

OpenCV (Open Source Computer Vision Library) is an open source computer vision and machine learning software library. OpenCV was built to provide a common infrastructure for computer vision applications and to accelerate the use of machine perception in the commercial products. Being a BSD-licensed product, OpenCV makes it easy for businesses to utilize and modify the code.

The library has more than 2500 optimized algorithms, which includes a comprehensive set of both classic and state-of-the-art computer vision and machine learning algorithms. These algorithms can be used to detect and recognize faces, identify objects, classify human actions in videos, track camera movements, track moving objects, extract 3D models of objects, produce 3D point clouds from stereo cameras, stitch images together to produce a high resolution image of an entire scene, find similar images from an image database, remove red eyes from images taken using flash, follow eye movements, recognize scenery and establish markers to overlay it with augmented reality, etc. OpenCV has more than 47 thousand people of user community and estimated number of downloads exceeding 7 million. The library is used extensively in companies, research groups and by governmental bodies.

Along with well-established companies like Google, Yahoo, Microsoft, Intel, IBM, Sony, Honda, Toyota that employ the library, there are many startups such as Applied Minds, VideoSurf, and Zeitera, that make extensive use of OpenCV. OpenCV’s deployed uses span the range from stitching streetview images together, detecting intrusions in surveillance video in Israel, monitoring mine equipment in China, helping robots navigate and pick up objects at Willow Garage, detection of swimming pool drowning accidents in Europe, running interactive art in Spain and New York, checking runways for debris in Turkey, inspecting labels on products in factories around the world on to rapid face detection in Japan.

It has C++, C, Python, Java and MATLAB interfaces and supports Windows, Linux, Android and Mac OS. OpenCV leans mostly towards real-time vision applications and takes advantage of MMX and SSE instructions when available. A full-featured CUDA and OpenCL interfaces are being actively developed right now. There are over 500 algorithms and about 10 times as many functions that compose or support those algorithms. OpenCV is written natively in C++ and has a templated interface that works seamlessly with STL containers.

OpenCV Developers Team:

─── 摘自《樹莓派相機︰ RaspiCAM 之軟件《三》》

 

有些覆載吃重，不利於『即時處理』控制事件。雖然用著 GoPiGo 1 的硬體，仍將樹莓派升級到 3B ，且驗之以︰

Browser streaming bot

This example is for streaming video and controlling the GoPiGo from a web browser

Usage:

• Make robot_web_server.py executable

 sudo chmod +x robot_web_server.py

• Run robot_web_server.py

 sudo ./robot_web_server.py

• Open a web browser on any computer or mobile device and enter the following in the address bar:

 dex.local:98

The page runs on dex.local or the IP address of the Pi on port 98

• The video stream would load up and you can use the joystick on the screen to control the GoPiGo

This repository contains source code, firmware and design materials for the GoPiGo.

 

發現除了需要先執行

‧ browser_stream_setup.sh

，以及注意網頁路徑

IOError: [Errno 2] No such file or directory: '/home/pi/Desktop/GoPiGo/Software/Python/Examples/Browser_Streaming_Robot/www/index.html'

 

外，看來一切 OK

 

。先行者或想讀讀玩玩『basic_test_all.py』乎？？！！

 

 

 

 

 

 

 

 

有興趣探索『GoPiGo』韌體與軟體 I2C 界面細節者，可以參考

《W!o+ 的《小伶鼬工坊演義》︰ 一窺全豹之系統設計《實驗》》

# This is the address for the GoPiGo
address = 0x08
debug=0

文本序列同時並行。

此處我們稍稍瀏覽

Python Programming API Functions:

Below is a more detailed description of the functions available with the GoPiGo with Python along with the usage and examples.

Click on the individual links below for more detail on their usage.

Motor control functions:

• fwd(): Move the GoPiGo forward with PID (better control)
• motor_fwd(): Move the GoPiGo forward without PID
• bwd(): Move the GoPiGo back with PID (better control)
• motor_bwd(): Move the GoPiGo back without PID
• left(): Turn GoPiGo Left slow (one motor off, better control)
• left_rot(): Rotate GoPiGo left in same position (both motors moving in the opposite direction)
• right(): Turn GoPiGo right slow (one motor off, better control)
• right_rot(): Rotate GoPiGo right in same position both motors moving in the opposite direction)
• stop(): Stop the GoPiGo

Motor speed Functions:

• increase_speed(): Increase the speed of the GoPiGo by 10
• decrease_speed(): Decrease the speed of the GoPiGo by 10
• set_left_speed(): Set speed of the left motor
• set_right_speed(): Set speed of the right motor
• set_speed(): Set speeds of both the motors

Encoder Functions:

• enc_tgt(): Set encoder target to move the GoPiGo to a set distance
• enable_encoders(): Enable the encoders
• disable_encoders(): Disable the encoders

Ultrasonic ranger read:

• us_dist(): Read distance from the ultrasonic sensor

LED control:

• led_on(): Turn LED on
• led_off(): Turn LED off

Servo control:

• enable_servo(): Enables the servo
• disable_servo(): Disables the servo
• servo(): Set servo position

Status from the GoPiGo:

• volt(): Read battery voltage in V
• fw_ver(): Get the firmware version of the GoPiGo
• enable_com_timeout(): Enable communication time-out(stop the motors if no command received in the specified time-out)
• disable_com_timeout(): Disable communication time-out
• read_status(): Read the status register on the GoPiGo
• read_enc_status(): Read encoder status
• read_timeout_status(): Read timeout status

Have a question or a suggestion?  Go check out our support page here or post it on the forums here. 

 

然後請讀者或設定好 WiFi ，或者安裝成 AP ，總之使『GoPiGo』的『網路連線』開始自由起來，如是『小汽車』行動方可無礙矣。

挺進軟體應用主題也☆