RaspiRoverDuino

Integration Dagu 5 Rover 4x4 with Arduino and Raspberry PI via Node.js

Hardware

• Dagu Rover 5 Tracked Chassis with Encoders
• Dagu - 4 Channel DC Motor Controller with Encoder Support
• Expansion Plate
• RaspBerry PI Model B
• WiFi Dongle - Tenda W311U+ High Gain 3.5dB
• RaspiCam
• Pan Tilt Cam
• Arduino UNO R3
• 9 Volt Battery for Dagu - 4 Channel DC Motor Controller
• CallPod - Fueltank UNO for Raspberry PI
• Snap Clip 9V Battery
• Jumper Cable
• MPU6050
• HC-SR04

App Configuration

• Node.js
• Express.io
• configuration file on /app/conf/index.js

SW Configuration

• WIFI configuration
• Node.js
• Raspi Camera
• RaspiCam Stream
• Plugin Raspi Camera very fast stream!!
• MPU5060

TO DO

HW Configuration

Arduino Library ping HC-SR04

Arduino Pin

LEFT_FRONT Motor Pin 3 - CHANNEL 1 PWD PIN - analogwrite modulation Pin 2 - CHANNEL 1 DIR PIN

RIGHT_FRONT Motor Pin 5 - CHANNEL 3 PWD PIN - analogwrite modulation Pin 4 - CHANNEL 3 DIR PIN

LEFT_REAR Motor Pin 6 - CHANNEL 2 PWD PIN - analogwrite modulation Pin 7 - CHANNEL 2 DIR PIN

RIGHT_REAR Motor Pin 9 - CHANNEL 4 PWD PIN - analogwrite modulation Pin 8 - CHANNEL 4 DIR PIN

Cam Tilt pannel Pin 13 - Left-Right Pin 12 - Upper-Down

Expansion Plate

• Cut expansion plate with two holes under the engine controller to pass the 4 motor connectors

TO DO

Images

Video

First Test

NOTE

• the app on nodejs not support socket.io in clutering mode (see server.js in root folder)
• for streaming see this article Plugin Raspi Camera very fast stream!!

TO DO

• configure gyro
• test on mobile phone
• change raspberry to hotspot wifi.
• add ping sensor