.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

@@ -1,70 +1,38 @@
-### 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
+# A makefile for building the robot's slave software
+# Uses arduino-cli
+#
+# Kitsune Scientific 2021
 
-### PROJECT_DIR
-### This is the path to where you have created/cloned your project
-PROJECT_DIR       = $(shell dirname $(shell pwd))
+# What board to build for and its core
+CORE     ?= arduino:avr
+FQBN     ?= arduino:avr:nano:cpu=atmega328old
 
-### ARDMK_DIR
-### Path to the Arduino-Makefile directory.
-ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+# What port to build on
+ifndef SERIAL_DEV
+  ifneq (,$(wildcard /dev/ttyUSB0))
+    SERIAL_DEV = /dev/ttyUSB0
+  else ifneq (,$(wildcard /dev/ttyACM0))
+    SERIAL_DEV = /dev/ttyACM0
+  else
+    SERIAL_DEV = unknown
+  endif
+endif
 
-### ARDUINO_DIR
-### Path to the Arduino application and resources directory.
-ARDUINO_DIR       = /usr/share/arduino
+all: requirements build upload
 
-### USER_LIB_PATH
-### Path to where the your project's libraries are stored.
-USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+build: requirements crawler_slave.ino
+	arduino-cli core install $(CORE)
 
-### 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
+	arduino-cli compile -b $(FQBN) crawler_slave
 
-### 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*
+upload: requirements crawler_slave.ino
+	arduino-cli upload -b $(FQBN) crawler_slave -p $(SERIAL_DEV)
 
-### 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
+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')