The CAD as of now is up to date, and everything is printed.

.gitignore

@@ -9,3 +9,4 @@ __pycache__
 *.png
 *.jpg
 *.wav
+*.pdf

README.md

@@ -1,7 +0,0 @@
-# To install on robot
-
-```
-git clone <url>
-cd lewis-crawler/crawler_software/raspberry_pi
-make install?
-```

companion_software/BasicBot.py

@@ -0,0 +1,23 @@
+from discord_webhook import DiscordWebhook
+from picamera import PiCamera
+from time import sleep
+
+
+def get_uptime():
+    with open('/proc/uptime', 'r') as f:
+        uptime_seconds = float(f.readline().split()[0])
+
+    return uptime_seconds
+
+webhookURL = "https://discord.com/api/webhooks/856609966404534272/TR9tnLq2sIGZoOeADNswmGRNlzBcqM5aKihfU6snVTP9WhSSoVVvi7nT6i-ZfZS7Hcqm"
+
+webhook = DiscordWebhook(url=webhookURL, content="Uptime: " + str( round( ((get_uptime() / 60) / 60 ), 2 )) + " hours")
+
+camera = PiCamera()
+sleep(3) # let iso settle out
+camera.capture('still.jpg')
+
+with open("still.jpg", "rb") as f:
+        webhook.add_file(file=f.read(), filename='still.jpg')
+response = webhook.execute() # Hit send
+

crawler_software/arduino/crawler_slave/Makefile

@@ -0,0 +1,70 @@
+### DISCLAIMER
+### This is an example Makefile and it MUST be configured to suit your needs.
+### For detailed explanations about all the available options,
+### please refer to https://github.com/sudar/Arduino-Makefile/blob/master/arduino-mk-vars.md
+
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = $(shell dirname $(shell pwd))
+
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+
+### ARDUINO_DIR
+### Path to the Arduino application and resources directory.
+ARDUINO_DIR       = /usr/share/arduino
+
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+
+### BOARD_TAG & BOARD_SUB
+### For Arduino IDE 1.0.x
+### Only BOARD_TAG is needed. It must be set to the board you are currently using. (i.e uno, mega2560, etc.)
+# BOARD_TAG         = mega2560
+### For Arduino IDE 1.6.x
+### Both BOARD_TAG and BOARD_SUB are needed. They must be set to the board you are currently using. (i.e BOARD_TAG = uno, mega, etc. & BOARD_SUB = atmega2560, etc.)
+### Note: for the Arduino Uno, only BOARD_TAG is mandatory and BOARD_SUB can be equal to anything
+BOARD_TAG         = mega
+BOARD_SUB         = atmega2560
+
+### MONITOR_PORT
+### The port your board is connected to. Using an '*' tries all the ports and finds the right one. Choose one of the two.
+MONITOR_PORT      = /dev/ttyUSB*
+# MONITOR_PORT      = /dev/ttyACM*
+
+### MONITOR_BAUDRATE
+### It must be set to Serial baudrate value you are using.
+MONITOR_BAUDRATE  = 115200
+
+### AVR_TOOLS_DIR
+### Path to the AVR tools directory such as avr-gcc, avr-g++, etc.
+AVR_TOOLS_DIR     = /usr
+
+### AVRDUDE
+### Path to avrdude directory.
+AVRDUDE           = /usr/bin/avrdude
+
+### CFLAGS_STD
+CFLAGS_STD        = -std=gnu11
+
+### CXXFLAGS_STD
+### You can choose wich ever you like
+# CXXFLAGS_STD      = -std=gnu++11
+CXXFLAGS_STD      = -std=gnu++17
+
+
+### CPPFLAGS
+### Flags you might want to set for debugging purpose. Comment to stop.
+CXXFLAGS         += -pedantic -Wall -Wextra
+LDFLAGS          += -fdiagnostics-color
+
+### OBJDIR
+### Don't touch this!
+### This is were you put the binaries you just compile using 'make'
+CURRENT_DIR       = $(shell basename $(CURDIR))
+OBJDIR            = $(PROJECT_DIR)/build/$(CURRENT_DIR)/$(BOARD_TAG)
+
+### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
+include $(ARDMK_DIR)/Arduino.mk

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -1,63 +0,0 @@
-/* Crawler Slave
- *  
- *  This code runs on the crawler i2c network
- *  and provides a cleaner, less CPU intensive control over PWM devices.
- */
-
-#include <Wire.h>
-#include <Servo.h>
-
-// This servo is used to wipe and clean the camera lens
-Servo windowWiperServo;
-
-// Variables populated over i2c from master
-int id;
-int val;
-
-void setup() {
-  // For debugging
-  //Serial.begin(115200);
-  
-  // Attach the wiper servo to pin 9
-  windowWiperServo.attach(9);
-
-  // This is the address the pi will speak to us at
-  Wire.begin(0x4);
-  
-  // Call receiveEvent when data received                
-  Wire.onReceive(receiveEvent);
-
-  // Setup LED
-  pinMode(LED_BUILTIN, OUTPUT);
-  digitalWrite(LED_BUILTIN, LOW);
-
-  //Serial.println("Started");
-}
-
-// Just loop to keep the running code alive, and wait for events to happen.
-void loop() {
-  delay(50);
-}
-
-// This method runs when we receive a message
-void receiveEvent(int n) {
-  Wire.read(); // Remove smbus trash
-  if (true) { // Dont do anything if this is not true
-    id  = Wire.read(); // ID of the servo/device to access
-    val = Wire.read(); // Value to assign
-
-    //Serial.println(id);
-    //Serial.println(val);
-  
-    switch(id) {
-      case 1:
-        windowWiperServo.write(val);
-        break;
-    }
-  }
-
-  // Prevents a bug where if bytes are left in buffer, arduino crashes.
-  while (Wire.available()) {
-    Wire.read();
-  }
-}

crawler_software/raspberry_pi/crawler.service

@@ -1,11 +0,0 @@
-[Unit]
-Description=Crawler service overseer, manages running main crawler software
-After=multi-user.target
-
-[Service]
-Type=simple
-Restart=always
-ExecStart=/usr/bin/python /srv/crawler/crawler.py
-
-[Install]
-WantedBy=multi-user.target

crawler_software/raspberry_pi/requirements.txt

@@ -1,2 +1,2 @@
 PySSTV
-picamera
+picamera

crawler_software/raspberry_pi/tests/discordbot.py

@@ -1,73 +0,0 @@
-from discord_webhook import DiscordWebhook
-from picamera import PiCamera
-from time import sleep
-from gps import *
-from smbus import SMBus
-import time
-
-addr = 0x4 # bus address
-bus = SMBus(1) # indicates /dev/ic2-1
-
-numb = 1
-
-def writeData(value):
-    byteValue = StringToBytes(value)    
-    bus.write_i2c_block_data(addr,0x00,byteValue) #first byte is 0=command byte.. just is.
-    return -1
-
-
-def StringToBytes(val):
-        retVal = []
-        for c in val:
-                retVal.append(ord(c))
-        return retVal
-
-try:
-    for _x in range (0, 2):
-            for i in range(78, 130):
-                    writeData("WIPE-" + str(i))
-                    time.sleep(0.02)
-            for i in range(130, 78, -1):
-                    writeData("WIPE-" + str(i))
-                    time.sleep(0.02)
-except OSError:
-    print("Could not speak to ardujmemo")
-
-def get_uptime():
-    with open('/proc/uptime', 'r') as f:
-        uptime_seconds = float(f.readline().split()[0])
-
-    return uptime_seconds
-
-def getPositionData(gps):
-    location = [None]
-    while(location[0] == None):
-        print("Trying again")
-        nx = gpsd.next()
-        # For a list of all supported classes and fields refer to:
-        # https://gpsd.gitlab.io/gpsd/gpsd_json.html
-        if nx['class'] == 'TPV':
-            latitude = getattr(nx,'lat', "Unknown")
-            longitude = getattr(nx,'lon', "Unknown")
-            #print "Your position: lon = " + str(longitude) + ", lat = " + str(latitude)
-            location = [latitude, longitude]
-    return location
-
-gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE)
-
-loc = getPositionData(gpsd)
-
-webhookURL = "https://discord.com/api/webhooks/856609966404534272/TR9tnLq2sIGZoOeADNswmGRNlzBcqM5aKihfU6snVTP9WhSSoVVvi7nT6i-ZfZS7Hcqm"
-
-print(loc[0])
-print(loc[1])
-webhook = DiscordWebhook(url=webhookURL, content="Uptime: " + str( round( ((get_uptime() / 60) / 60 ), 2 )) + " hours. Lat is " + str(loc[0]) + ", long is " + str(loc[1]))
-
-camera = PiCamera()
-sleep(3) # let iso settle out
-camera.capture('still.jpg')
-
-with open("still.jpg", "rb") as f:
-	webhook.add_file(file=f.read(), filename='still.jpg')
-response = webhook.execute() # Hit send
-

crawler_software/raspberry_pi/tests/stack_overflow.py

@@ -1,20 +0,0 @@
-import smbus
-import time
-import struct
-
-# for RPI version 1, use bus = smbus.SMBus(0)
-bus = smbus.SMBus(1)
-
-# This is the address we setup in the Arduino Program
-address = 0x04
-
-try:
-    for _x in range (0, 2):
-            for i in range(78, 130):
-                    bus.write_i2c_block_data(address, 0, [1, i])
-                    time.sleep(0.02)
-            for i in range(130, 78, -1):
-                    bus.write_i2c_block_data(address, 0, [1, i])
-                    time.sleep(0.02)
-except OSError:
-    print("Could not speak to ardujmemo")

crawler_software/raspberry_pi/tests/test_i2c.py

@@ -1,35 +0,0 @@
-#  Raspberry Pi Master for Arduino Slave
-#  i2c_master_pi.py
-#  Connects to Arduino via I2C
-  
-#  DroneBot Workshop 2019
-#  https://dronebotworkshop.com
-
-from smbus import SMBus
-import time
-
-addr = 0x8 # bus address
-bus = SMBus(1) # indicates /dev/ic2-1
-
-numb = 1
-
-print ("Enter num")
-
-for _x in range (0, 4):
-	for i in range(76, 130):
-		bus.write_byte(addr, i)
-		time.sleep(0.02)
-	for i in range(130, 76, -1):
-                bus.write_byte(addr, i)
-                time.sleep(0.02)
-
-#while numb == 1:
-#
-#	ledstate = input(">>>>   ")
-#
-#	if ledstate == "1":
-#		bus.write_byte(addr, 0x1) # switch it on
-#	elif ledstate == "0":
-#		bus.write_byte(addr, 0x0) # switch it on
-#	else:
-#		numb = 0

crawler_software/raspberry_pi/tests/test_tx.py

@@ -1,12 +0,0 @@
-import RPi.GPIO as GPIO # Import Raspberry Pi GPIO library
-from time import sleep # Import the sleep function from the time module
-
-GPIO.setwarnings(False) # Ignore warning for now
-GPIO.setmode(GPIO.BOARD) # Use physical pin numbering
-GPIO.setup(12, GPIO.OUT, initial=GPIO.LOW) # Set pin 8 to be an output pin and set initial value to low (off)
-
-while True: # Run forever
- GPIO.output(12, GPIO.HIGH) # Turn on
- sleep(1) # Sleep for 1 second
- GPIO.output(12, GPIO.LOW) # Turn off
- sleep(1) # Sleep for 1 second