Add some notes

.gitignore

@@ -1,5 +1,7 @@
 # Python
 __pycache__
+Pipfile
+Pipfile.lock
 
 # CAD
 *.stl
@@ -9,3 +11,4 @@ __pycache__
 *.png
 *.jpg
 *.wav
+*.pdf

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/)

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 +1,38 @@
+# A makefile for building the robot's slave software
+# Uses arduino-cli
+#
+# Kitsune Scientific 2021
+
+# What board to build for and its core
+CORE     ?= arduino:avr
+FQBN     ?= arduino:avr:nano:cpu=atmega328old
+
+# What port to build on
+ifndef SERIAL_DEV
+  ifneq (,$(wildcard /dev/ttyUSB0))
+    SERIAL_DEV = /dev/ttyUSB0
+  else ifneq (,$(wildcard /dev/ttyACM0))
+    SERIAL_DEV = /dev/ttyACM0
+  else
+    SERIAL_DEV = unknown
+  endif
+endif
+
+all: requirements build upload
+
+build: requirements crawler_slave.ino
+	arduino-cli core install $(CORE)
+
+	arduino-cli compile -b $(FQBN) crawler_slave
+
+upload: requirements crawler_slave.ino
+	arduino-cli upload -b $(FQBN) crawler_slave -p $(SERIAL_DEV)
+
+requirements:
+	@if [ -e requirements.txt ]; \
+	then while read -r i ; do echo ; \
+		echo "---> Installing " '"'$$i'"' ; \
+		arduino-cli lib install "$$i" ; \
+	done < requirements.txt ; \
+	else echo "---> MISSING requirements.txt file"; \
+	fi

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/arduino/crawler_slave/requirements.txt

@@ -0,0 +1 @@
+Servo

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')