Customization Plan
The Goal
MAKE LINUX RUN THE BRAIN OF THE ROBOT
AND adding computer vision capability to the robot.
Options
Arduino Shields
It's easy to add remote connectivity to robot using Wifi/Bluetooth shields for Arduino. But that doesn't help with the limited computing power of Arduino. I don't want to build a purely remote-controlled robot with it's brain sitting in an iPhone or Android. I have a plan to plugin a camera for computer vision, Arduino can't help on this.
Raspberry Pi
It sounds a good option. Raspberry Pi 2 or 3 is powerful enough to run Linux programs on the robot. And it's cheap, compared to Arduino shields, only a few bucks more.
The challenge is how to plug Raspberry Pi to Zumo. Google didn't tell me much useful information (I need details!). Some projects make me fell confident down to this road:
Requirements
Most of Raspberry Pi on Zumo projects connect Pi and Zumo using either:
- USB cable (may not work with Zumo for Arduino)
- Arduberry or similar solutions
And the Pi is powered separately. You can find the funny pictures showing little Zumo carrying big USB powerpack for Raspberry Pi.
I don't like a separate power supply. I want to use the single power source from the batteries of the built-in Zumo chassis. I'm not quite sure 4 AA NiMH batteries will be enough. I'm willing to find out.
Besides, I want to assemble these pieces of PCBs, camera supporting kit and camera in a clean way (without too many wires flying around). It will make my life much easier in future to build a shell for it.
Detailed Plan
This is the plan to build zpi1:
- Based on Zumo for Arduino (with 75:1 motors)
- Use Arduberry to connect Raspberry Pi
- Use 5V Step-up/down Regulator to power Pi and Servo HAT
- Add Servo HAT between Arduberry and Pi and use Pi to control camera Pan/Tilt kit
- Use Pan/Tilt Kit to hold camera
- Use Pi Camera V2 NoIR for video capture
The Zumo for Arduino base with 75:1 motors:
For how this plan came out, please continue reading, starting from Power Supply.