STS-PiLot Robotics Remote Control

Long time no see!

Here comes a new app called "app_sanic.py" that uses the SANIC framework instead of flask. This app works with both Python3 and PyPy3, but not Python2. Videostreaming is now provided via the UV4L video driver/streaming server. UV4L must be installed separately. The default UV4L stream settings (Port 8080, /stream/video.mjpeg) are used to embed the video into the STS-Pilot web UI. This app was developed for increased video performance (UV4L) and better resource usage (PyPy3).

Check the GitHub repo for more details.

I have added the "client" folder to the github repo. This folder will contain example client programs to control or communicate with STS-PiLot from another computer.

The first program joystick.py allows you to control your STS-Pi or other two wheeler running STS-PiLot with a joystick or gamepad.

I have created a "video only" version of STS-Pilot that allows a Raspberry Pi to be used as a simple IP camera: PiWifiCam

Some (mainly mobile) web browsers did not update the video when the slower, single threaded video interface was used. This was caused by the browser caching the jpeg image instead of reloading it. The problem is now solved.

It is now possible to run STS-PiLot on a Pi Zero (W) with live video. The latest software version contains an additional non-threaded video feed that puts less strain on systems with lower CPU specs.

Use the following URL syntax to use it:

http://[your pi's ip]:5000/?video=[msecs]
[msecs] sets the minimum delay between frame captures in milliseconds. Example:
http://192.168.1.23:5000/?video=100 will provide a video display with about 10 frames per second.

How does it work:

http://[your pi's ip]:5000/single_frame.jpg provides a single JPEG frame on every call to the URL.

The javascript program that runs within your browser calls this URL every [msecs].

This functionality is available in both the Pi Camera and the OpenCV generic camera interface.

You still get the threaded, high framerate, low latency, higher CPU interface when using the base URL without arguments: http://[your pi's ip]:5000

And this is the Polulu ZUMO chassis featuring a Pi Zero W with live camera feed and Explorer pHAT that had its first public appearance at Moray Coder Dojo yesterday:

All native Explorer HAT calls have been moved to io_wrapper.py. This makes adapting the program for other hardware easier.

io_wrapper_dummy.py uses no specific hardware at all and can be used for testing and playing around on any Linux computer. Instead of interacting with hardware calls to the motors and outputs are logged to STDOUT. The dummy "inputs" just return random numbers or logic levels that are displayed on the HUD overlay.

I have added a file camera_cv.py. This module uses OpenCV to connect any V4L compatible camera (like webcams) to STS-PiLot.

I have done some successful tests with the new Pi Zero W and the Explorer pHAT interface over the weekend.

All works well and despite the missing LEDs and touchpads the Explorer pHAT works out of the box without any needs to modify the software.

Still waiting for the Pi Zero camera to arrive this week :-)

I have done some successful tests with the new Pi Zero W and the Explorer pHAT interface.

All works well and despite the missing LEDs and touchpads the Explorer pHAT works out of the box without any needs to modify the software.

Still waiting for the Pi Zero camera to arrive this week :-)