Add some notes

.gitignore

@@ -1,5 +1,7 @@
 # Python
 __pycache__
+Pipfile
+Pipfile.lock
 
 # CAD
 *.stl

README.md

@@ -1,7 +1,19 @@
 # To install on robot
 
 ```
-git clone <url>
-cd lewis-crawler/crawler_software/raspberry_pi
-make install?
+git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler /srv/crawler
+cd /srv/crawler/crawler_software/raspberry_pi
+make install
 ```
+
+# Updating
+
+```
+cd /srv/crawler
+git pull
+```
+
+
+# Notes
+
+[Uart Stuff](https://www.reddit.com/r/raspberry_pi/comments/833qux/binary_file_tranfer_via_uart/)

crawler_software/arduino/crawler_slave/Makefile

@@ -5,7 +5,7 @@
 
 # What board to build for and its core
 CORE     ?= arduino:avr
-FQBN     ?= arduino:avr:nano
+FQBN     ?= arduino:avr:nano:cpu=atmega328old
 
 # What port to build on
 ifndef SERIAL_DEV
@@ -20,13 +20,13 @@ endif
 
 all: requirements build upload
 
-build: crawler_slave.ino
+build: requirements crawler_slave.ino
 	arduino-cli core install $(CORE)
 
 	arduino-cli compile -b $(FQBN) crawler_slave
 
-upload:
-	echo "Would install to $(SERIAL_DEV)"
+upload: requirements crawler_slave.ino
+	arduino-cli upload -b $(FQBN) crawler_slave -p $(SERIAL_DEV)
 
 requirements:
 	@if [ -e requirements.txt ]; \

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -51,7 +51,9 @@ void receiveEvent(int n) {
   
     switch(id) {
       case 1:
-        windowWiperServo.write(val);
+        windowWiperServo.write(val); // Set a val
+        delay(5); // pause for a moment
+        windowWiperServo.detach(); // Detach (stop moving) the servo
         break;
     }
   }

crawler_software/raspberry_pi/Makefile

@@ -0,0 +1,18 @@
+# A makefile for installing the robot's python
+# software and setting it up.
+#
+# Requires sudo
+#
+# Kitsune Scientific 2021
+
+all: install
+
+upload: crawler.service
+	sudo cp crawler.service /etc/systemd/system/crawler.service
+
+	sudo systemctl daemon-reload
+
+	sudo systemctl enable crawler.service
+	sudo systemctl start crawler.service
+
+	sudo systemctl status crawler

crawler_software/raspberry_pi/tests/color_compression/compress.py

@@ -0,0 +1,16 @@
+from PIL import Image
+import base64
+
+im = Image.open('still.jpg')
+
+# using Image.ADAPTIVE to avoid dithering
+for i in range(8, 0, -1):
+    out = im.convert('P', palette=Image.ADAPTIVE, colors=i)
+
+    out.save(f'out_{i}_bits.png')
+    
+    with open(f'out_{i}_bits.png', 'rb') as image_file:
+        encoded_string = base64.a85encode(image_file.read())
+
+    with open(f'out_{i}_bits.txt', 'w') as f:
+        f.write(encoded_string.decode('UTF-8'))

crawler_software/raspberry_pi/tests/color_compression/out_1_bits.txt

@@ -0,0 +1 @@
+M,6r;%14!\!!!!.8Ou6I!!!)I!!!&X#Qk&,!4s2MScA`m!)Q?g7AGd(zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!.5pZZiC(+%V8a6Akbu".KBGK#QOi)zdSl>0!!-\'6pXdsSF+-I!<<*"_P$QtD$r"izzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!!!"D(e?.W!V_LqE<#t=!(fUS7'8jaJc

crawler_software/raspberry_pi/tests/otp/otp_test.py

@@ -0,0 +1,25 @@
+from random import randrange
+import time, pyotp, datetime
+
+hotp = pyotp.HOTP(pyotp.random_base32())
+
+success = 0
+num_tries = 20
+
+for i in range(0,num_tries):
+    epoch = int(time.time())
+    code = hotp.at(epoch)
+    print('------------------------')
+    print(f'Made a code {code} at {epoch}, sending a simualted instruction')
+
+    waittime = randrange(5)
+    print(f'Instuction will take {waittime} seconds to receive or be recieved')
+    time.sleep(waittime)
+
+    if hotp.verify(code, epoch):
+        print(f'code:{code} verified')
+        success += 1
+    else:
+        print(f'code:{code} expired')
+
+print(f'Succeded {success} out of {num_tries} tries')