Onboard software update 28 March, 2020

Hey divers,

Just wanted to give you all a heads up that we rewrote and added a few sections to the Archimedes software package. For newbies, that's the collection of scripts that operate inside every one of our ROVs. There are two primary changes: one that frees up the I2C pins for use with pretty much any sensor, and a new script that transmits telemetry back to the App's heads up display.

Here's a quick video tutorial that shows you all the steps to install the new software package. The only changes in the physical assembly are the repositioning of the jumper wires that connect the motor drivers to the GPIO pins. This is outlined with photos in the Model C v0.1.1 assembly manual.

After I VNC into the Raspberry Pi and connect to the internet, the commands I use in this video to set up all the necessary software are as follows:

sudo raspi-config

(Once we're in the interface, we navigate to Interface>Camera, and enable the camera. Then, we select "finish" and return to the terminal)

git clone https://github.com/costassoler/Archimedes2.git

cd Archimedes2 chmod +x TelemetryServer.py

(Didn;t make this as clear as I should have in the video - making TelemServer.py executable is optional. You can use this script to send telemetry back to your App)

chmod +x ControlServer.py

chmod +x RPiCamServer.py

crontab -e

Once we're inside the crontab, we add the following three lines at the bottom of the file:

@reboot sudo pigpiod

@reboot python3 /home/pi/Archimedes2/ControlServer.py

@reboot python3 /home/pi/Archimedes2/RPiCamServer.py

There really isn't all that much going on inside the Model C computer when it's turned on. It just runs the pigpio daemon once at reboot, and then starts the Control and Raspberry Pi Camera servers. That leaves *plenty* of processing power for data-crunching experiments, sensors, and hardware controls we have yet to invent.

I think this upgrade will help all of us get started with our own underwater experiments. I already used the I2C pins to run a compass-powered autonomous heading control and battery power display. The analog battery meter will definitely be included in future kits. I'll also post about my experiments with autonomous heading control soon!

Hope this helps everyone get set up.

-Costas