SunFounder Raspberry Pi Robot - PiCrawler¶
Thank you for choosing our PiCrawler.
PiCrawler is a Raspberry Pi quadruped robot with aluminum alloy structure. It is equipped with a camera module, which can perform color recognition, face detection and other items; 12 metal gear servos support it to walk, dance, and pose various postures; the ultrasonic module on the body allows it to quickly detect obstacles in front of it; the expansion board-robot HAT is equipped with a speaker, allowing it to express emotions such as happiness and excitement.
This document includes the list and assembly pdf, Robot HAT introduction and PiCrawler programming.
The programming part is divided into two chapters: Play with Ezblock & Play with Python, each chapter allows you to explain how to make PiCrawler work the way you want.
Ezblock Studio is a development platform developed by SunFounder for beginners, aiming to lower the barriers to entry for Raspberry Pi. It has two programming languages: Graphical and Python, which can be used on almost all different types of devices. With Bluetooth and Wi-Fi support, you can download codes on Ezblock Studio and remotely control Raspberry Pi.
More experienced makers can use the popular programming language-Python.
Content
Component List and Assembly Instructions¶
You need to check whether there are missing or damaged components according to the list first. If there are any problems, please contact us and we will solve them as soon as possible.
Please follow the steps on the PDF to assemble.
If the servo has been powered on, please do not turn the Servo shaft to avoid damage.
Note
Before assembling, you need to buy 2 18650 batteries and fully charge them, refer to About the Battery.
Robot HAT cannot charge the battery, so you need to buy a battery charger at the same time.
About Robot HAT¶
Robot HAT is a multifunctional expansion board that allows Raspberry Pi to be quickly turned into a robot. An MCU is on board to extend the PWM output and ADC input for the Raspberry Pi, as well as a motor driver chip, Bluetooth module, I2S audio module and mono speaker. As well as the GPIOs that lead out of the Raspberry Pi itself.
It also comes with a Speaker, which can be used to play background music, sound effects and implement TTS functions to make your project more interesting.
Accepts 7-12V PH2.0 2pin power input with 2 power indicators. The board also has a user available LED and a button for you to quickly test some effects.
Note
You can see more details in the Robot HAT Documentation.
Play with Python¶
If you want to program in python, then you will need to learn some basic Python programming skills and basic knowledge of Raspberry Pi, please configure the Raspberry Pi first according to Quick Guide on Python.
Quick Guide on Python¶
This section is to teach you how to install Raspberry Pi OS, configure wifi to Raspberry Pi, remote access to Raspberry Pi to run the corresponding code.
If you are familiar with Raspberry Pi and can open the command line successfully, then you can skip the first 3 parts and then complete the last part.
What Do We Need?¶
Required Components¶
Raspberry Pi
The Raspberry Pi is a low cost, credit-card sized computer that plugs into a computer monitor or TV, and uses a standard keyboard and mouse. It is a capable little device that enables people of all ages to explore computing, and to learn how to program in languages like Scratch and Python.
Power Adapter
To connect to a power socket, the Raspberry Pi has a micro USB port (the same found on many mobile phones). You will need a power supply which provides at least 2.5 amps.
Micro SD Card
Your Raspberry Pi needs an Micro SD card to store all its files and the Raspberry Pi OS. You will need a micro SD card with a capacity of at least 8 GB
Optional Components¶
Screen
To view the desktop environment of Raspberry Pi, you need to use the screen that can be a TV screen or a computer monitor. If the screen has built-in speakers, the Pi plays sounds via them.
Mouse & Keyboard
When you use a screen , a USB keyboard and a USB mouse are also needed.
HDMI
The Raspberry Pi has a HDMI output port that is compatible with the HDMI ports of most modern TV and computer monitors. If your screen has only DVI or VGA ports, you will need to use the appropriate conversion line.
Case
You can put the Raspberry Pi in a case; by this means, you can protect your device.
Sound or Earphone
The Raspberry Pi is equipped with an audio port about 3.5 mm that can be used when your screen has no built-in speakers or when there is no screen operation.
Installing the OS¶
Required Components
Any Raspberry Pi |
1 * Personal Computer |
1 * Micro SD card |
Step 1
Raspberry Pi have developed a graphical SD card writing tool that works on Mac OS, Ubuntu 18.04 and Windows, and is the easiest option for most users as it will download the image and install it automatically to the SD card.
Visit the download page: https://www.raspberrypi.org/software/. Click on the link for the Raspberry Pi Imager that matches your operating system, when the download finishes, click it to launch the installer.
Step 2
When you launch the installer, your operating system may try to block you from running it. For example, on Windows I receive the following message:
If this pops up, click on More info and then Run anyway, then follow the instructions to install the Raspberry Pi Imager.
Step 3
Insert your SD card into the computer or laptop SD card slot.
Step 4
Warning
Upgrading the Raspberry Pi OS to Debian Bullseye will cause some features to not work, so it is recommended to continue using the Debian Buster version.
In the Raspberry Pi Imager, click CHOOSE OS -> Raspberry Pi OS(other).
Scroll down to the end of the newly opened page and you will see Raspberry Pi OS(Legacy) and Raspberry Pi OS Lite(Legacy), these are security updates for Debian Buster, the difference between them is with or without the desktop. It is recommended to install Raspberry Pi OS(Legacy), the system with the desktop.
Step 5
Select the SD card you are using.
Step 6
To open the advanced options page, click the setting button (appears after selecting operating system) or press Ctrl+Shift+X. Enable ssh and set the username and name. You can choose to always use this image customization options.
Note
When the Set hostname box is not checked, the default hostname will still be raspberrypi, and we will use this hostname to access the Raspberry Pi remotely.
Then scroll down to complete the wifi configuration and click SAVE.
Note
wifi country should be set the two-letter ISO/IEC alpha2 code for the country in which you are using your Raspberry Pi, please refer to the following link: https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2#Officially_assigned_code_elements
Step 7
Click the WRITE button.
Step 8
If your SD card currently has any files on it, you may wish to back up these files first to prevent you from permanently losing them. If there is no file to be backed up, click Yes.
Step 9
After waiting for a period of time, the following window will appear to represent the completion of writing.
Set up Your Raspberry Pi¶
If You Have a Screen¶
If you have a screen, it will be easy for you to operate on the Raspberry Pi.
Required Components
Any Raspberry Pi
1 * Power Adapter
1 * Micro SD card
1 * Screen Power Adapter
1 * HDMI cable
1 * Screen
1 * Mouse
1 * Keyboard
Insert the SD card you’ve set up with Raspberry Pi OS into the micro SD card slot on the underside of your Raspberry Pi.
Plug in the Mouse and Keyboard.
Connect the screen to Raspberry Pi’s HDMI port and make sure your screen is plugged into a wall socket and switched on.
Note
If you use a Raspberry Pi 4, you need to connect the screen to the HDMI0 (nearest the power in port).
Use the power adapter to power the Raspberry Pi. After a few seconds, the Raspberry Pi OS desktop will be displayed.
If You Have No Screen¶
If you don’t have a monitor, you can remotely log into your Raspberry Pi.
You can apply the SSH command to open the Raspberry Pi’s Bash shell. Bash is the standard default shell for Linux. The shell itself is a command (instruction) when the user uses Unix/Linux. Most of what you need to do can be done through the shell.
If you’re not satisfied with using the command window to access your Raspberry Pi, you can also use the remote desktop feature to easily manage files on your Raspberry Pi using a GUI.
See below for detailed tutorials for each system.
Mac OS X user¶
For Mac users, accessing the Raspberry Pi desktop directly via VNC is more convenient than from the command line. You can access it via Finder by entering the set account password after enabling VNC on the Raspberry Pi side.
Note that this method does not encrypt communication between the Mac and Raspberry Pi. The communication will take place within your home or business network, so even if it’s unprotected, it won’t be an issue. However, if you are concerned about it, you can install a VNC application such as VNC® Viewer.
Alternatively it would be handy if you could use a temporary monitor (TV), mouse and keyboard to open the Raspberry Pi desktop directly to set up VNC. If not, it doesn’t matter, you can also use the SSH command to open the Raspberry Pi’s Bash shell and then using the command to set up the VNC.
Connect a monitor (or TV), mouse and keyboard to the Raspberry Pi and power it on. Select the menu according to the numbers in the figure.
The following screen will be displayed. Set VNC to Enabled on the Interfaces tab, and click OK.
A VNC icon appears on the upper right of the screen and the VNC server starts.
Open the VNC server window by clicking on the VNC icon, then click on the Menu button in the top right corner and select Options.
You will be presented with the following screen where you can change the options.
Set Encryption to Prefer off and Authentication to VNC password.
When you click the OK button, the password input screen is displayed. You can use the same password as the Raspberry pi password or a different password, so enter it and click OK.
You are now ready to connect from your Mac. It’s okay to disconnect the monitor.
From here, it will be the operation on the Mac side.
Now, select Connect to Server from the Finder’s menu, which you can open by right-clicking.
Type in
vnc://<username>@<hostname>.local(orvnc://<username>@<IP address>). After entering, click Connect.
You will be asked for a password, so please enter it.
The desktop of the Raspberry pi will be displayed, and you will be able to operate it from the Mac as it is.
You can apply the SSH command to open the Raspberry Pi’s Bash shell.
Bash is the standard default shell for Linux.
The shell is a command line interpreter (CLI) when the user uses Unix/Linux.
Most of what you need to do can be done through the shell.
After setting up the Raspberry pi side, you can access the desktop of the Raspberry Pi using the Finder from the Mac.
Type
ssh <username>@<hostname>.localto connect to the Raspberry Pi.ssh pi@raspberrypi.local
The following message will be displayed only when you log in for the first time, so enter yes.
The authenticity of host 'raspberrypi.local (2400:2410:2101:5800:635b:f0b6:2662:8cba)' can't be established. ED25519 key fingerprint is SHA256:oo7x3ZSgAo032wD1tE8eW0fFM/kmewIvRwkBys6XRwg. This key is not known by any other names Are you sure you want to continue connecting (yes/no/[fingerprint])?
Enter the password for the Raspberry pi. The password you enter will not be displayed, so be careful not to make a mistake.
pi@raspberrypi.local's password: Linux raspberrypi 5.15.61-v8+ #1579 SMP PREEMPT Fri Aug 26 11:16:44 BST 2022 aarch64 The programs included with the Debian GNU/Linux system are free software; the exact distribution terms for each program are described in the individual files in /usr/share/doc/*/copyright. Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent permitted by applicable law. Last login: Thu Sep 22 12:18:22 2022 pi@raspberrypi:~ $
Set up your Raspberry Pi so that you can log in via VNC from your Mac once you have successfully logged into it. The first step is to update your operating system by running the following commands.
sudo apt update sudo apt upgrade
Do you want to continue? [Y/n], EnterYwhen prompted.It may take some time for the update to finish. (It depends on the amount of updates at that time.)
Enter the following command to enable the VNC Server.
sudo raspi-config
The following screen will be displayed. Select 3 Interface Options with the arrow keys on the keyboard and press the Enter key.
Then select P3 VNC.
Use the arrow keys on the keyboard to select <Yes> -> <OK> -> <Finish> to complete the setup.
Now that the VNC server has started, let’s change the settings for connecting from a Mac.
To specify parameters for all programs for all user accounts on the computer, create
/etc/vnc/config.d/common.custom.sudo nano /etc/vnc/config.d/common.custom
After entering
Authentication=VncAuthenter, pressCtrl+X->Y->Enterto save and exit.
In addition, set a password for logging in via VNC from a Mac. You can use the same password as the Raspberry pi password or a different password.
sudo vncpasswd -service
Once the setup is complete, restart the Raspberry Pi to apply the changes.
sudo sudo reboot
Now, select Connect to Server from the Finder’s menu, which you can open by right-clicking.
Type in
vnc://<username>@<hostname>.local(orvnc://<username>@<IP address>). After entering, click Connect.
You will be asked for a password, so please enter it.
The desktop of the Raspberry pi will be displayed, and you will be able to operate it from the Mac as it is.
Windows Users¶
If you are using win10, you can use follow way to login Raspberry Pi remotely.
Type
powershellin the search box of your Windows desktop, right click on theWindows PowerShell, and selectRun as administratorfrom the menu that appears.
Then, check the IP address of your Raspberry Pi by typing in
ping -4 <hostname>.local.ping -4 raspberrypi.local
As shown above, you can see the Raspberry Pi’s IP address after it has been connected to the network.
If terminal prompts
Ping request could not find host pi.local. Please check the name and try again.. Please follow the prompts to make sure the hostname you fill in is correct.Still can’t get the IP? Check your network or WiFi configuration on the Raspberry Pi.
At this point you will be able to log in to your Raspberry Pi using the
ssh <username>@<hostname>.local(orssh <username>@<IP address>).ssh pi@raspberrypi.local
Warning
If a prompt appears
The term 'ssh' is not recognized as the name of a cmdlet....It means your system is too old and does not have ssh tools pre-installed, you need to manually Install OpenSSH via Powershell.
Or use a third party tool like PuTTY.
The following message will be displayed only when you log in for the first time, so enter
yes.The authenticity of host 'raspberrypi.local (2400:2410:2101:5800:635b:f0b6:2662:8cba)' can't be established. ED25519 key fingerprint is SHA256:oo7x3ZSgAo032wD1tE8eW0fFM/kmewIvRwkBys6XRwg. This key is not known by any other names Are you sure you want to continue connecting (yes/no/[fingerprint])?
Input the password you set before. (Mine is
raspberry.)Note
When you input the password, the characters do not display on window accordingly, which is normal. What you need is to input the correct password.
We now get the Raspberry Pi connected and are ready to go to the next step.
If you’re not satisfied with using the command window to access your Raspberry Pi, you can also use the remote desktop feature to easily manage files on your Raspberry Pi using a GUI.
Here we use VNC® Viewer.
Enable VNC service
The VNC service has been installed in the system. By default, VNC is disabled. You need to enable it in config.
Input the following command:
sudo raspi-config
Choose 3 Interfacing Options by press the down arrow key on your keyboard, then press the Enter key.
Then P3 VNC.
Use the arrow keys on the keyboard to select <Yes> -> <OK> -> <Finish> to complete the setup.
Login to VNC
You need to download and install the VNC Viewer on personal computer.
Open it once the installation is complete. Then, enter the host name or IP address and press Enter.
After entering your Raspberry Pi name and password, click OK.
Now you can see the desktop of the Raspberry Pi.
Linux /Unix Users¶
#. Go to Applications->Utilities, find the Terminal, and open it.
Check if your Raspberry Pi is on the same network by type in
ping <hostname>.local.ping raspberrypi.local
As shown above, you can see the Raspberry Pi’s IP address after it has been connected to the network.
If terminal prompts
Ping request could not find host pi.local. Please check the name and try again.. Please follow the prompts to make sure the hostname you fill in is correct.Still can’t get the IP? Check your network or WiFi configuration on the Raspberry Pi.
Type in
ssh <username>@<hostname>.local(orssh <username>@<IP address>).ssh pi@raspberrypi.local
Note
If a prompt appears
The term 'ssh' is not recognized as the name of a cmdlet....It means your system is too old and does not have ssh tools pre-installed, you need to manually Install OpenSSH via Powershell.
Or use a third party tool like PuTTY.
The following message will be displayed only when you log in for the first time, so enter
yes.The authenticity of host 'raspberrypi.local (2400:2410:2101:5800:635b:f0b6:2662:8cba)' can't be established. ED25519 key fingerprint is SHA256:oo7x3ZSgAo032wD1tE8eW0fFM/kmewIvRwkBys6XRwg. This key is not known by any other names Are you sure you want to continue connecting (yes/no/[fingerprint])?
Input the password you set before. (Mine is
raspberry.)Note
When you input the password, the characters do not display on window accordingly, which is normal. What you need is to input the correct password.
We now get the Raspberry Pi connected and are ready to go to the nextstep.
Install All the Modules¶
Make sure you are connected to the Internet and update your system:
sudo apt update
sudo apt upgrade
Note
Python3 related packages must be installed if you are installing the Lite version OS.
sudo apt install git python3-pip python3-setuptools python3-smbus
Install robot-hat module.
cd /home/pi/
git clone https://github.com/sunfounder/robot-hat.git
cd robot-hat
sudo python3 setup.py install
Note
Running setup.py will download some necessary components. You may fail to download due to network problems. You may need to download again at this time.
In the following cases, enter Y and press Enter.
Then download the code and install vilib module.
cd /home/pi/
git clone https://github.com/sunfounder/vilib.git
cd vilib
sudo python3 install.py
Then download the code and install picrawler module.
cd /home/pi/
git clone -b v2.0 https://github.com/sunfounder/picrawler.git
cd picrawler
sudo python3 setup.py install
This step will take a little time, so please be patient.
Finally, you need to run the script i2samp.sh to install the components required by the i2s amplifier, otherwise the pislot will have no sound.
cd /home/pi/picrawler
sudo bash i2samp.sh
Type y and press Enter to continue running the script.
Type y and press Enter to run /dev/zero in the background.
Type y and press Enter to restart the machine.
Note
If there is no sound after restarting, you may need to run the i2samp.sh script multiple times.
Enable I2C and Camera Interface¶
Here we are using the Raspberry Pi’s I2C and Camera interfaces, but by default they are disabled, so we need to enable them first.
Input the following command:
sudo raspi-config
Choose 3 Interfacing Options by press the down arrow key on your keyboard, then press the Enter key.
Then P5 I2C.
Use the arrow keys on the keyboard to select <Yes> -> <OK> to complete the setup of the I2C.
Go to 3 Interfacing Options again and select P1 Camera.
Again select <Yes> -> <OK> to complete the setup.
After you select <Finish>, a pop-up will remind you that you need to reboot for the settings to take effect, select <Yes>.
Servo Adjust¶
To ensure that the servo has been properly set to 0°, first insert the rocker arm into the servo shaft and then gently rotate the rocker arm to a different angle.
Follow the instructions on the assembly foldout, insert the battery holder cable and turn the power switch to the ON. Wait for 1-2 minutes, there will be a sound to indicate that the Raspberry Pi boots successfully.
Now, run servo_zeroing.py in the examples/ folder.
cd /home/pi/picrawler/examples
sudo python3 servo_zeroing.py
Next, plug the servo cable into the P11 port as follows.
At this point you will see the servo arm rotate to a specific position (0°). If the servo arm does not return to 0°, press the RST button to restart the Robot HAT.
Now you can continue the installation as instructed on the assembly foldout.
Note
Do not unplug this servo cable before fixing it with the servo screw, you can unplug it after fixing it.
Do not rotate the servo while it is powered on to avoid damage; if the servo shaft is not inserted at the right angle, pull the servo out and reinsert it.
Before assembling each servo, you need to plug the servo cable into P11 and turn on the power to set its angle to 0°.
Calibrate the PiCrawler¶
Due to possible deviations during PiCrawler installation or limitations of the servos themselves, some servo angles may be slightly tilted, so you can calibrate them.
Of course you can skip this chapter if you think the assembly is perfect and doesn’t require calibration.
The specific steps are as follows:
Take out the assembly leaflet, turn it to the last page, and lay it flat on the table. Then place the PiCrawler as shown below, aligning its bottom with the outline on the calibration chart.
Run the
calibration.py.cd /home/pi/picrawler/examples/calibration sudo python3 calibration.py
After running the above code, you will see the following interface displayed in the terminal.
Press
2and3keys respectively to choose left 2 legs，then pressw,a,s,d,r, andfkeys to move them to the calibration point.
Now, change the calibration paper to the right and press the
1and4keys to choose right 2 legs, then pressw,a,s,d,r, andfkeys to move them to the calibration point.
After the calibration is completed, press the
spacekey to save, you will be prompted to enterYto confirm, and thenctrl+cto exit the program to complete the calibration.
After the assembly is complete, you can try to run the projects below.
Move¶
This is PiCrawler’s first project. Perform its most basic function - move.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 move.py
After the code is executed, PiCrawler will perform the following actions in sequence: move forward, move backward, turn left, turn right, stand.
Code
Note
You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like pisloth\examples. After modifying the code, you can run it directly to see the effect.
from picrawler import Picrawler
from time import sleep
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
def main():
speed = 100
while True:
crawler.do_action('forward',2,speed)
sleep(0.05)
crawler.do_action('backward',2,speed)
sleep(0.05)
crawler.do_action('turn left',2,speed)
sleep(0.05)
crawler.do_action('turn right',2,speed)
sleep(0.05)
crawler.do_action('turn left angle',2,speed)
sleep(0.05)
crawler.do_action('turn right angle',2,speed)
sleep(0.05)
crawler.do_step('stand',speed)
sleep(1)
if __name__ == "__main__":
main()
How it works?
First, import the Picrawler class from the picrawler library you have installed, which contains all of PiCrawler’s actions and the functions that implement them.
from picrawler import Picrawler
Then instantiate the crawler class.
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
Finally use the crawler.do_action() function to make Pisloth move.
crawler.do_action('forward',2,speed)
crawler.do_action('backward',2,speed)
crawler.do_action('turn left',2,speed)
crawler.do_action('turn right',2,speed)
crawler.do_action('turn left angle',2,speed)
crawler.do_action('turn right angle',2,speed)
In general, all movement of PiCrawler can be implemented with the do_action() function. It has 3 parameters:
motion_nameis the name of specific actions, including:forward,turn right,turn left,backward,turn left angle,turn right angle.steprepresents the number of each action is done, the default is 1.speedindicates the speed of the action, the default is 50 and the range is 0~100.
In addition, crawler.do_step('stand',speed) is also used here to make PiCrawler stand. The usage of this function will be explained in the following example.
Keyboard Control¶
In this project, we will learn how to use the keyboard to remotely control the PiCrawler. You can control the PiCrawler to move forward, backward, left, and right.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 keyboard_control.py
Press keys on keyboard to control PiCrawler! * w: Forward * a: Turn left * s: Backward * d: Turn right * esc: Quit
Code
from picrawler import Picrawler
from time import sleep
import readchar
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
speed = 90
manual = '''
Press keys on keyboard to control PiCrawler!
w: Forward
a: Turn left
s: Backward
d: Turn right
esc: Quit
'''
def show_info():
print("\033[H\033[J",end='') # clear terminal windows
print(manual)
def main():
show_info()
while True:
key = readchar.readkey()
key = key.lower()
if key in('wsad'):
if 'w' == key:
crawler.do_action('forward',1,speed)
elif 's' == key:
crawler.do_action('backward',1,speed)
elif 'a' == key:
crawler.do_action('turn left',1,speed)
elif 'd' == key:
crawler.do_action('turn right',1,speed)
sleep(0.05)
show_info()
elif key == readchar.key.CTRL_C or key in readchar.key.ESCAPE_SEQUENCES:
print("\n Quit")
break
sleep(0.02)
if __name__ == "__main__":
main()
How it works?
PiCrawler should take appropriate action based on the keyboard characters read. The lower() function converts upper case characters into lower case characters, so that the letter remains valid regardless of case.
while True:
key = readchar.readkey()
key = key.lower()
if key in('wsad'):
if 'w' == key:
crawler.do_action('forward',1,speed)
elif 's' == key:
crawler.do_action('backward',1,speed)
elif 'a' == key:
crawler.do_action('turn left',1,speed)
elif 'd' == key:
crawler.do_action('turn right',1,speed)
sleep(0.05)
show_info()
elif key == readchar.key.CTRL_C or key in readchar.key.ESCAPE_SEQUENCES:
print("\n Quit")
break
Sound Effect¶
In this example, we use PiCrawler’s (to be precise, Robot HAT’s) sound effects. It consists of three parts, namely Muisc, Sound, Text to Speech.
Install i2samp
Before using that functions, first activate the speaker so that it will be enabled and can make sounds.
Run i2samp.sh in, and this script will install everything needed to use i2s amplifier.
cd /home/pi/picrawler/
sudo bash i2samp.sh
There will be several prompts asking to confirm the request. Respond to all prompts with a Y. After the changes have been made to the Raspberry Pi system, the computer will need to reboot for these changes to take effect.
After rebooting, run the i2samp.sh script again to test the amplifier. If a sound successfully plays from the speaker, the configuration is complete.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 sound_effect.py
After the code runs, please operate according to the prompt that printed on the terminal.
Input key to call the function! * q: Play background music * 1: Play sound effect * 2: Play sound effect with threads * t: Text to speak
Code
from time import sleep
from robot_hat import Music,TTS
import readchar
music = Music()
tts = TTS()
manual = '''
Input key to call the function!
q: Play background music
1: Play sound effect
2: Play sound effect with threads
t: Text to speak
'''
def main():
print(manual)
flag_bgm = False
music.music_set_volume(20)
tts.lang("en-US")
while True:
key = readchar.readkey()
key = key.lower()
if key == "q":
flag_bgm = not flag_bgm
if flag_bgm is True:
music.background_music('./musics/sports-Ahjay_Stelino.mp3')
else:
music.music_stop()
elif key == "1":
music.sound_effect_play('./sounds/talk1.wav')
sleep(0.05)
music.sound_effect_play('./sounds/talk3.wav')
sleep(0.05)
music.sound_effect_play('./sounds/sign.wav')
sleep(0.5)
elif key =="2":
music.sound_effect_threading('./sounds/talk1.wav')
sleep(0.05)
music.sound_effect_threading('./sounds/talk3.wav')
sleep(0.05)
music.sound_effect_threading('./sounds/sign.wav')
sleep(0.5)
elif key == "t":
words = "Hello"
tts.say(words)
if __name__ == "__main__":
main()
How it works?
Functions related to background music include these:
music = Music(): Declare the object.music.music_set_volume(20): Set the volume, the range is 0~100.music.background_music(./musics/sports-Ahjay_Stelino.mp3): Play music files, here is the sports-Ahjay_Stelino.mp3 file under the./musicspath.music.music_stop(): Stop playing background music.
Note
You can add different sound effects or music to musics or sounds folder via Filezilla Software.
Functions related to sound effects include these:
music = Music()music.sound_effect_play('./sounds/talk1.wav'): Play the sound effect file, here is the talk1.wav file under the./musicspath.muisc.sound_effect_threading('./sounds/talk1.wav'): Play the sound effect file in a new thread mode without suspending the main thread.
Functions related to Text to Speech include these:
tts = TTS()tts.say(words): Text audio.tts.lang("en-US"): Set the language.
Note
Set the language by setting the parameters of lang("") with the following characters.
zh-CN |
Mandarin (Chinese) |
en-US |
English-United States |
en-GB |
English-United Kingdom |
de-DE |
Germany-Deutsch |
es-ES |
España-Español |
fr-FR |
France-Le français |
it-IT |
Italia-lingua italiana |
Obstacle Avoidance¶
In this project, picrawler will use an ultrasonic module to detect obstacles in front. When PiCrawler detects an obstacle, it will send a signal and look for another direction to move forward.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 avoid.py
After the code runs, PiCrawler will walk forward. If it detects that the distance of the obstacle ahead is less than 10cm, it will stop and sound a warning, then turn left and stop. If there is no obstacle in the direction after turning left or the obstacle distance is greater than 10, it will continue to move forward.
Code
Note
You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like picrawler\examples. After modifying the code, you can run it directly to see the effect.
from picrawler import Picrawler
from robot_hat import TTS, Music
from robot_hat import Ultrasonic
from robot_hat import Pin
import time
import os
tts = TTS()
music = Music()
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
sonar = Ultrasonic(Pin("D2") ,Pin("D3"))
alert_distance = 15
speed = 100
def main():
distance = sonar.read()
print(distance)
if distance < 0:
pass
elif distance <= alert_distance:
try:
music.sound_effect_threading('./sounds/sign.wav')
except Exception as e:
print(e)
crawler.do_action('turn left angle',3,speed)
time.sleep(0.2)
else :
crawler.do_action('forward', 1,speed)
time.sleep(0.2)
if __name__ == "__main__":
while True:
main()
How it works?
You can get the distance by importing the Ultrasonic class.
from robot_hat import Ultrasonic
Then initialize the ultrasonic pins.
sonar = Ultrasonic(Pin("D2") ,Pin("D3"))
Here is the main program.
Read the
distancedetected by ultrasonic module and filter out the values less than 0 (When the ultrasonic module is too far from the obstacle or cannot read the data correctly,distance<0will appear).When the
distanceis less than or equal toalert_distance(the threshold value set earlier, which is 10), play the sound effectsign.wav. PiCrawler doesturn left angle.When the
distanceis greater thanalert_distance, PiCrawler will moveforward.
distance = sonar.read()
print(distance)
if distance < 0:
pass
elif distance <= alert_distance:
try:
music.sound_effect_threading('./sounds/sign.wav')
except Exception as e:
print(e)
crawler.do_action('turn left angle',3,speed)
time.sleep(0.2)
else :
crawler.do_action('forward', 1,speed)
time.sleep(0.2)
Note
You can add different sound effects or music to musics or sounds folder via Filezilla Software.
Computer Vision¶
This project will officially enter the field of computer vision!
Run the Code
cd /home/pi/picrawler/examples
sudo python3 display.py
View the Image
After the code runs, the terminal will display the following prompt:
No desktop !
* Serving Flask app "vilib.vilib" (lazy loading)
* Environment: production
WARNING: Do not use the development server in a production environment.
Use a production WSGI server instead.
* Debug mode: off
* Running on http://0.0.0.0:9000/ (Press CTRL+C to quit)
Then you can enter http://<your IP>:9000/mjpg in the browser to view the video screen. such as: https://192.168.18.113:9000/mjpg
After the program runs, you will see the following information in the final:
Input key to call the function!
q: Take photo
1: Color detect : red
2: Color detect : orange
3: Color detect : yellow
4: Color detect : green
5: Color detect : blue
6: Color detect : purple
0: Switch off Color detect
r：Scan the QR code
f: Switch ON/OFF face detect
s: Display detected object information
Please follow the prompts to activate the corresponding functions.
Take Photo
Type
qin the terminal and press Enter. The picture currently seen by the camera will be saved (if the color detection function is turned on, the mark box will also appear in the saved picture). You can see these photos from the/home/pi/Pictures/PiCrawler/directory of the Raspberry Pi. You can use tools such as Filezilla Software to transfer photos to your PC.Color Detect
Entering a number between
1~6will detect one of the colors in “red, orange, yellow, green, blue, purple”. Enter0to turn off color detection.
Note
You can download and print the
PDF Color Cardsfor color detection.Face Detect
Type
fto turn on face detection.
QR Code Detect
Enter
rto open the QR code recognition. No other operations can be performed before the QR code is recognized. The decoding information of the QR code will be printed in the terminal.
Display Information
Entering
swill print the information of the face detection (and color detection) target in the terminal. Including the center coordinates (X, Y) and size (Weight, height) of the measured object.
Code
from pydoc import text
from vilib import Vilib
from time import sleep, time, strftime, localtime
import threading
import readchar
flag_face = False
flag_color = False
qr_code_flag = False
manual = '''
Input key to call the function!
q: Take photo
1: Color detect : red
2: Color detect : orange
3: Color detect : yellow
4: Color detect : green
5: Color detect : blue
6: Color detect : purple
0: Switch off Color detect
r：Scan the QR code
f: Switch ON/OFF face detect
s: Display detected object information
'''
color_list = ['close', 'red', 'orange', 'yellow',
'green', 'blue', 'purple',
]
def face_detect(flag):
print("Face Detect:" + str(flag))
Vilib.face_detect_switch(flag)
def qrcode_detect():
global qr_code_flag
if qr_code_flag == True:
Vilib.qrcode_detect_switch(True)
print("Waitting for QR code")
text = None
while True:
temp = Vilib.detect_obj_parameter['qr_data']
if temp != "None" and temp != text:
text = temp
print('QR code:%s'%text)
if qr_code_flag == False:
break
sleep(0.5)
Vilib.qrcode_detect_switch(False)
def take_photo():
_time = strftime('%Y-%m-%d-%H-%M-%S',localtime(time()))
name = 'photo_%s'%_time
path = "/home/pi/Pictures/PiCrawler/"
Vilib.take_photo(name, path)
print('photo save as %s%s.jpg'%(path,name))
def object_show():
global flag_color, flag_face
if flag_color is True:
if Vilib.detect_obj_parameter['color_n'] == 0:
print('Color Detect: None')
else:
color_coodinate = (Vilib.detect_obj_parameter['color_x'],Vilib.detect_obj_parameter['color_y'])
color_size = (Vilib.detect_obj_parameter['color_w'],Vilib.detect_obj_parameter['color_h'])
print("[Color Detect] ","Coordinate:",color_coodinate,"Size",color_size)
if flag_face is True:
if Vilib.detect_obj_parameter['human_n'] == 0:
print('Face Detect: None')
else:
human_coodinate = (Vilib.detect_obj_parameter['human_x'],Vilib.detect_obj_parameter['human_y'])
human_size = (Vilib.detect_obj_parameter['human_w'],Vilib.detect_obj_parameter['human_h'])
print("[Face Detect] ","Coordinate:",human_coodinate,"Size",human_size)
def main():
global flag_face, flag_color, qr_code_flag
qrcode_thread = None
Vilib.camera_start(vflip=False,hflip=False)
Vilib.display(local=True,web=True)
print(manual)
while True:
# readkey
key = readchar.readkey()
key = key.lower()
# take photo
if key == 'q':
take_photo()
# color detect
elif key != '' and key in ('0123456'): # '' in ('0123') -> True
index = int(key)
if index == 0:
flag_color = False
Vilib.color_detect('close')
else:
flag_color = True
Vilib.color_detect(color_list[index]) # color_detect(color:str -> color_name/close)
print('Color detect : %s'%color_list[index])
# face detection
elif key =="f":
flag_face = not flag_face
face_detect(flag_face)
# qrcode detection
elif key =="r":
qr_code_flag = not qr_code_flag
if qr_code_flag == True:
if qrcode_thread == None or not qrcode_thread.is_alive():
qrcode_thread = threading.Thread(target=qrcode_detect)
qrcode_thread.setDaemon(True)
qrcode_thread.start()
else:
if qrcode_thread != None and qrcode_thread.is_alive():
# wait for thread to end
qrcode_thread.join()
print('QRcode Detect: close')
# show detected object information
elif key == "s":
object_show()
sleep(0.5)
if __name__ == "__main__":
main()
How it works?
The first thing you need to pay attention to here is the following function. These two functions allow you to start the camera.
Vilib.camera_start()
Vilib.display()
Functions related to “object detection”:
Vilib.face_detect_switch(True): Switch ON/OFF face detectionVilib.color_detect(color): For color detection, only one color detection can be performed at the same time. The parameters that can be input are:"red","orange","yellow","green","blue","purple"Vilib.color_detect_switch(False): Switch OFF color detectionVilib.qrcode_detect_switch(False): Switch ON/OFF QR code detection, Returns the decoded data of the QR code.Vilib.gesture_detect_switch(False): Switch ON/OFF gesture detectionVilib.traffic_sign_detect_switch(False): Switch ON/OFF traffic sign detection
The information detected by the target will be stored in the detect_obj_parameter = Manager().dict() dictionary.
In the main program, you can use it like this:
Vilib.detect_obj_parameter['color_x']
The keys of the dictionary and their uses are shown in the following list:
color_x: the x value of the center coordinate of the detected color block, the range is 0~320color_y: the y value of the center coordinate of the detected color block, the range is 0~240color_w: the width of the detected color block, the range is 0~320color_h: the height of the detected color block, the range is 0~240color_n: the number of detected color patcheshuman_x: the x value of the center coordinate of the detected human face, the range is 0~320human_y: the y value of the center coordinate of the detected face, the range is 0~240human_w: the width of the detected human face, the range is 0~320human_h: the height of the detected face, the range is 0~240human_n: the number of detected facestraffic_sign_x: the center coordinate x value of the detected traffic sign, the range is 0~320traffic_sign_y: the center coordinate y value of the detected traffic sign, the range is 0~240traffic_sign_w: the width of the detected traffic sign, the range is 0~320traffic_sign_h: the height of the detected traffic sign, the range is 0~240traffic_sign_t: the content of the detected traffic sign, the value list is [‘stop’,’right’,’left’,’forward’]gesture_x: The center coordinate x value of the detected gesture, the range is 0~320gesture_y: The center coordinate y value of the detected gesture, the range is 0~240gesture_w: The width of the detected gesture, the range is 0~320gesture_h: The height of the detected gesture, the range is 0~240gesture_t: The content of the detected gesture, the value list is [“paper”,”scissor”,”rock”]qr_date: the content of the QR code being detectedqr_x: the center coordinate x value of the QR code to be detected, the range is 0~320qr_y: the center coordinate y value of the QR code to be detected, the range is 0~240qr_w: the width of the QR code to be detected, the range is 0~320qr_h: the height of the QR code to be detected, the range is 0~320
Record Video¶
This example will guide you how to use the recording function.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 record_video.py
After the code runs, you can enter http://<your IP>:9000/mjpg in the browser to view the video screen. such as: http://192.168.18.113:9000/mjpg
Recording can be stopped or started by pressing the keys on the keyboard.
Press
qto begin recording or pause/continue,eto stop recording or save.If you want to exit the program, press
esc.
Code
from time import sleep,strftime,localtime
from vilib import Vilib
import readchar
manual = '''
Press keys on keyboard to control recording:
Q: record/pause/continue
E: stop
ESC: Quit
'''
def print_overwrite(msg, end='', flush=True):
print('\r\033[2K', end='',flush=True)
print(msg, end=end, flush=True)
def main():
rec_flag = 'stop' # start,pause,stop
vname = None
Vilib.rec_video_set["path"] = "/home/pi/Videos/" # set path
Vilib.camera_start(vflip=False,hflip=False)
Vilib.display(local=True,web=True)
sleep(0.8) # wait for startup
print(manual)
while True:
# read keyboard
key = readchar.readkey()
key = key.lower()
# start,pause
if key == 'q':
key = None
if rec_flag == 'stop':
rec_flag = 'start'
# set name
vname = strftime("%Y-%m-%d-%H.%M.%S", localtime())
Vilib.rec_video_set["name"] = vname
# start record
Vilib.rec_video_run()
Vilib.rec_video_start()
print_overwrite('rec start ...')
elif rec_flag == 'start':
rec_flag = 'pause'
Vilib.rec_video_pause()
print_overwrite('pause')
elif rec_flag == 'pause':
rec_flag = 'start'
Vilib.rec_video_start()
print_overwrite('continue')
# stop
elif key == 'e' and rec_flag != 'stop':
key = None
rec_flag = 'stop'
Vilib.rec_video_stop()
print_overwrite("The video saved as %s%s.avi"%(Vilib.rec_video_set["path"],vname),end='\n')
# quit
elif key == readchar.key.CTRL_C or key in readchar.key.ESCAPE_SEQUENCES:
Vilib.camera_close()
print('\nquit')
break
sleep(0.1)
if __name__ == "__main__":
main()
How it works?
Functions related to recording include the following:
Vilib.rec_video_run(video_name): Started the thread to record the video.video_nameis the name of the video file, it should be a string.Vilib.rec_video_start(): Start or continue video recording.Vilib.rec_video_pause(): Pause recording.Vilib.rec_video_stop(): Stop recording.
Vilib.rec_video_set["path"] = "/home/pi/video/test/" sets the storage location of video files.
Bull Fight¶
Make PiCrawler an angry bull! Use its camera to track and rush the red cloth!
Run the Code
cd /home/pi/picrawler/examples
sudo python3 bull_fight.py
View the Image
After the code runs, the terminal will display the following prompt:
No desktop !
* Serving Flask app "vilib.vilib" (lazy loading)
* Environment: production
WARNING: Do not use the development server in a production environment.
Use a production WSGI server instead.
* Debug mode: off
* Running on http://0.0.0.0:9000/ (Press CTRL+C to quit)
Then you can enter http://<your IP>:9000/mjpg in the browser to view the video screen. such as: https://192.168.18.113:9000/mjpg
Code
Note
You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like picrawler\examples. After modifying the code, you can run it directly to see the effect.
from picrawler import Picrawler
from time import sleep
from robot_hat import Music
from vilib import Vilib
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
music = Music()
def main():
Vilib.camera_start()
Vilib.display()
Vilib.color_detect("red")
speed = 100
while True:
if Vilib.detect_obj_parameter['color_n']!=0:
coordinate_x = Vilib.detect_obj_parameter['color_x']
music.sound_effect_threading('./sounds/talk1.wav')
if coordinate_x < 100:
crawler.do_action('turn left',1,speed)
sleep(0.05)
elif coordinate_x > 220:
crawler.do_action('turn right',1,speed)
sleep(0.05)
else :
crawler.do_action('forward',2,speed)
sleep(0.05)
else :
crawler.do_step('stand',speed)
sleep(0.05)
if __name__ == "__main__":
main()
How it works?
In general, this project combines the knowledge points of Move, Computer Vision and Sound Effect.
Its flow is shown in the figure below:
Treasure Hunt¶
Arrange a maze in your room and place six different color cards in six corners. Then control PiCrawler to search for these color cards one by one!
Note
You can download and print the PDF Color Cards for color detection.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 treasure_hunt.py
View the Image
After the code runs, the terminal will display the following prompt:
No desktop !
* Serving Flask app "vilib.vilib" (lazy loading)
* Environment: production
WARNING: Do not use the development server in a production environment.
Use a production WSGI server instead.
* Debug mode: off
* Running on http://0.0.0.0:9000/ (Press CTRL+C to quit)
Then you can enter http://<your IP>:9000/mjpg in the browser to view the video screen. such as: http://192.168.18.113:9000/mjpg
Code
from picrawler import Picrawler
from time import sleep
from robot_hat import Music,TTS
from vilib import Vilib
import readchar
import random
import threading
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
music = Music()
tts = TTS()
manual = '''
Press keys on keyboard to control Picrawler!
w: Forward
a: Turn left
s: Backward
d: Turn right
space: Say the target again
esc: Quit
'''
color = "red"
color_list=["red","orange","yellow","green","blue","purple"]
key_dict = {
'w': 'forward',
's': 'backward',
'a': 'turn_left',
'd': 'turn_right',
}
def renew_color_detect():
global color
color = random.choice(color_list)
Vilib.color_detect(color)
tts.say("Look for " + color)
key = None
lock = threading.Lock()
def key_scan_thread():
global key
while True:
key_temp = readchar.readkey()
print('\r',end='')
with lock:
key = key_temp.lower()
if key == readchar.key.SPACE:
key = 'space'
elif key == readchar.key.CTRL_C or key in readchar.key.ESCAPE_SEQUENCES:
key = 'quit'
break
sleep(0.01)
def main():
global key
action = None
Vilib.camera_start(vflip=False,hflip=False)
Vilib.display(local=False,web=True)
sleep(0.8)
speed = 100
print(manual)
sleep(1)
_key_t = threading.Thread(target=key_scan_thread)
_key_t.setDaemon(True)
_key_t.start()
tts.say("game start")
sleep(0.05)
renew_color_detect()
while True:
if Vilib.detect_obj_parameter['color_n']!=0 and Vilib.detect_obj_parameter['color_w']>100:
tts.say("will done")
sleep(0.05)
renew_color_detect()
with lock:
if key != None and key in ('wsad'):
action = key_dict[str(key)]
key = None
elif key == 'space':
tts.say("Look for " + color)
key = None
elif key == 'quit':
_key_t.join()
Vilib.camera_close()
print("\n\rQuit")
break
if action != None:
crawler.do_action(action,1,speed)
action = None
sleep(0.05)
if __name__ == "__main__":
main()
How it works?
In general, this project combines the knowledge points of Keyboard Control, Computer Vision and Sound Effect.
Its flow is shown in the figure below:
Pose¶
PiCrawler can assume a specific posture by writing a coordinate array. Here it assumes a raised right rear foot posture.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 do_step.py
Code
from picrawler import Picrawler
from time import sleep
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
## [right front],[left front],[left rear],[right rear]
new_step=[[50, 50, -80], [50, 50, -80],[80, 80, 0], [50, 50, -80]]
def main():
speed = 100
while True:
crawler.do_step('stand',speed)
print(crawler.step_list.get('stand'))
sleep(3)
crawler.do_step(new_step,speed)
print(new_step)
sleep(3)
if __name__ == "__main__":
main()
How it works?
In this code, the code you need to pay attention to is this crawler.do_step().
Similar to do_action(), do_step() can also manipulate PiCrawler’s behavior.
The difference is that the former can perform the continuous behavior of move forward, while the latter can be used to make separate gestures of stand and sit.
It has two uses:
One: It can write strings, directly use the step_list dictionary in the picrawler library.
crawler.do_step('stand',speed)
# "speed" indicates the speed of the step, the range is 0~100.
Second: It can also write an array of 4 coordinate values.
crawler.do_step([[50, 50, -80], [50, 50, -80],[80, 80, 0], [50, 50, -80]],speed)
# These four coordinates are used to control the four legs of right front, left front, left rear, and left rear respectively.
Each foot has an independent coordinate system. As shown below:
You need to measure the coordinates of each toe individually. As shown below:
By the way: the step_list called in the first method also consists of an array containing 4 coordinate values.
step_list = {
"stand":[
[50, 50, -80],
[50, 50, -80],
[50, 50, -80],
[50, 50, -80]
],
"sit":[
[50, 50, -33],
[50, 50, -33],
[50, 50, -33],
[50, 50, -33]
],
}
Adjust Posture¶
In this example, we use the keyboard to control the PiCrawler foot by foot and assume the desired posture.
You can press the space bar to print out the current coordinate values. These coordinate values come in handy when you create unique actions for PiCrawler.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 do_single_leg.py
After the code runs, please operate according to the prompt that pops up in the terminal.
Press
1234to select the feet separately,1: right front foot,2: left front foot,3: left rear foot,4: right rear footPress
w,a,s,d,r, andfto slowly control the PiCrawler’s coordinate values.Press
spaceto print all coordinate values.Press
escto exit.
Code
from picrawler import Picrawler
from time import sleep
import readchar
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
speed = 80
manual = '''
-------- PiCrawler Controller ---------
....... .......
<=| 2 |┌-┌┐┌┐-┐| 1 |=>
``````` ├ ┤ ```````
....... ├ ┤ .......
<=| 3 |└------┘| 4 |=>
``````` ```````
1: Select right front leg
2: Select left front leg
3: Select left rear leg
4: Select right rear leg
W: Y++ R: Z++
A: X-- F: Z--
S: Y--
D: X++ Esc: Quit
'''
legs_list = ['right front', 'left front', 'left rear', 'right rear']
def main():
leg = 0
speed = 80
step = 2
print(manual)
crawler.do_step('stand',speed)
sleep(0.2)
coordinate=crawler.current_step_all_leg_value()
def show_info():
print("\033[H\033[J",end='') # clear terminal windows
print(manual)
print('%s : %s'%(leg+1, legs_list[leg]))
print('coordinate: %s'%(coordinate))
show_info()
while True:
# readkey
key = readchar.readkey()
key = key.lower()
# select the leg
if key in ('1234'):
leg = int(key) - 1
show_info()
# move
elif key in ('wsadrf'):
if 'w' == key:
coordinate[leg][1]=coordinate[leg][1] + step
elif 's' == key:
coordinate[leg][1]=coordinate[leg][1] - step
elif 'a' == key:
coordinate[leg][0]=coordinate[leg][0] - step
elif 'd' == key:
coordinate[leg][0]=coordinate[leg][0] + step
elif 'r' == key:
coordinate[leg][2]=coordinate[leg][2] + step
elif 'f' == key:
coordinate[leg][2]=coordinate[leg][2] - step
crawler.do_single_leg(leg,coordinate[leg],speed)
sleep(0.1)
# coordinate=crawler.current_step_all_leg_value()
show_info()
# quit
elif key == readchar.key.CTRL_C or key in readchar.key.ESCAPE_SEQUENCES:
print("\n Quit")
break
sleep(0.05)
if __name__ == "__main__":
main()
current_step_all_leg_value(): Returns the coordinate values of all legs.do_single_leg(leg,coordinate,speed): Modify the coordinate value of a certain leg individually.
Record New Step¶
We use the keyboard to control PiCrawler to make several poses in turn, and record these poses. Replay them later.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 record_new_step_by_keyboard.py
After the code runs, please operate according to the prompt that pops up in the terminal.
Press
1234to select the feet separately,1: right front foot,2: left front foot,3: left rear foot,4: right rear footPress
w,a,s,d,r, andfto slowly control the PiCrawler’s coordinate values.Press
spaceto print all coordinate values.Press
pto have PiCrawler replay the recorded action.Press
escto exit.
Code
from picrawler import Picrawler
from time import sleep
import sys
import tty
import termios
import copy
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
speed = 80
def readchar():
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
manual = '''
Press keys on keyboard to control PiSloth!
w: Y++
a: X--
s: Y--
d: X++
r: Z++
f: Z--
1: Select right front leg
2: Select left front leg
3: Select left rear leg
4: Select right rear leg
space: Print all leg coodinate & Save this step
p: Play all saved step
esc: Quit
'''
new_step=[]
def save_new_step():
new_step.append(copy.deepcopy(crawler.current_step_all_leg_value()))
print(new_step)
def play_all_new_step():
for step in new_step:
crawler.do_step(step,speed)
sleep(0.6)
def main():
speed = 80
print(manual)
crawler.do_step('sit',speed)
leg = 0
coodinate=crawler.current_step_leg_value(leg)
while True:
key = readchar()
key = key.lower()
# print(key)
if 'w' == key:
coodinate[1]=coodinate[1]+2
elif 's' == key:
coodinate[1]=coodinate[1]-2
elif 'a' == key:
coodinate[0]=coodinate[0]-2
elif 'd' == key:
coodinate[0]=coodinate[0]+2
elif 'r' == key:
coodinate[2]=coodinate[2]+2
elif 'f' == key:
coodinate[2]=coodinate[2]-2
elif '1' == key:
leg=0
coodinate=crawler.current_step_leg_value(leg)
elif '2' == key:
leg=1
coodinate=crawler.current_step_leg_value(leg)
elif '3' == key:
leg=2
coodinate=crawler.current_step_leg_value(leg)
elif '4' == key:
leg=3
coodinate=crawler.current_step_leg_value(leg)
elif chr(32) == key:
print("[[right front],[left front],[left rear],[right rear]]")
print("saved new step")
print(crawler.current_step_all_leg_value())
save_new_step()
elif 'p' == key:
play_all_new_step()
elif chr(27) == key:# 27 for ESC
break
sleep(0.05)
crawler.do_single_leg(leg,coodinate,speed)
print("\n q Quit")
if __name__ == "__main__":
main()
How it works?
This project was born out of Adjust Posture. Added recording and replay functions.
The recording function is implemented by the following code.
new_step=[]
def save_new_step():
new_step.append(copy.deepcopy(crawler.current_step_all_leg_value()))
print(new_step)
Note
The assignment here needs to use the Deep Copy function, otherwise the new_step will not get a new array object when appending.
The replay function is implemented by the following code.
def play_all_new_step():
for step in new_step:
crawler.do_step(step,speed)
sleep(0.6)
Twist¶
We already know how to make PiCrawler assume a specific pose, the next step is to combine the poses to form a continuous action.
Here, PiCrawler’s four feet are up and down in twos, jumping with the music.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 twist.py
Code
Note
You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like picrawler\examples. After modifying the code, you can run it directly to see the effect.
from picrawler import Picrawler
from time import sleep
from robot_hat import Music
music = Music()
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
def twist(speed):
## [right front],[left front],[left rear],[left rear]
new_step=[[50, 50, -80], [50, 50, -80],[50, 50, -80], [50, 50, -80]]
for i in range(4):
for inc in range(30,60,5):
rise = [50,50,(-80+inc*0.5)]
drop = [50,50,(-80-inc)]
new_step[i]=rise
new_step[(i+2)%4] = drop
new_step[(i+1)%4] = rise
new_step[(i-1)%4] = drop
crawler.do_step(new_step,speed)
def main():
music.background_music('./musics/sports-Ahjay_Stelino.mp3')
music.music_set_volume(20)
while True:
twist(speed=100)
if __name__ == "__main__":
main()
How it works?
In this code, you need to pay attention to this part:
def twist(speed):
## [right front],[left front],[left rear],[right rear]
new_step=[[50, 50, -80], [50, 50, -80],[50, 50, -80], [50, 50, -80]]
for i in range(4):
for inc in range(30,60,5):
rise = [50,50,(-80+inc*0.5)]
drop = [50,50,(-80-inc)]
new_step[i]=rise
new_step[(i+2)%4] = drop
new_step[(i+1)%4] = rise
new_step[(i-1)%4] = drop
crawler.do_step(new_step,speed)
Simply put, it uses two layers of for loops to make the new_step array produce continuous and regular changes, and at the same time, crawler.do_step() executes the posture to form a continuous action.
You can intuitively get the coordinate value array corresponding to each pose from Adjust Posture.
In addition, the example also played background music. The implementation method is as follows.
Play music by importing the following libraries.
from robot_hat import Music
Declare a Music object.
music = Music()
Play the background music in the picrawler/examples/musics directory and set the volume to 20. You can also add music to the musics folder via Filezilla Software.
music.background_music('./musics/sports-Ahjay_Stelino.mp3')
music.music_set_volume(20)
Note
You can add different sound effects or music to musics or sounds folder via Filezilla Software.
Emotional Robot¶
This example shows several interesting custom actions of PiCrawler.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 emotional_robot.py
Code
Note
You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like picrawler\examples. After modifying the code, you can run it directly to see the effect.
from picrawler import Picrawler
from time import sleep
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
def handwork(speed):
basic_step = []
basic_step = crawler.step_list.get("sit")
left_hand = crawler.mix_step(basic_step,0,[0,50,80])
right_hand = crawler.mix_step(basic_step,1,[0,50,80])
two_hand = crawler.mix_step(left_hand,1,[0,50,80])
crawler.do_step('sit',speed)
sleep(0.6)
crawler.do_step(left_hand,speed)
sleep(0.6)
crawler.do_step(two_hand,speed)
sleep(0.6)
crawler.do_step(right_hand,speed)
sleep(0.6)
crawler.do_step('sit',speed)
sleep(0.6)
def twist(speed):
new_step=[[50, 50, -80], [50, 50, -80],[50, 50, -80], [50, 50, -80]]
for i in range(4):
for inc in range(30,60,5):
rise = [50,50,(-80+inc*0.5)]
drop = [50,50,(-80-inc)]
new_step[i]=rise
new_step[(i+2)%4] = drop
new_step[(i+1)%4] = rise
new_step[(i-1)%4] = drop
crawler.do_step(new_step,speed)
##"[[right front], [left front], [left rear], [left rear]]")
def pushup(speed):
up=[[80, 0, -100], [80, 0, -100],[0, 120, -60], [0, 120, -60]]
down=[[80, 0, -30], [80, 0, -30],[0, 120, -60], [0, 120, -60]]
crawler.do_step(up,speed)
sleep(0.6)
crawler.do_step(down,speed)
sleep(0.6)
def swimming(speed):
for i in range(100):
crawler.do_step([[100-i,i,0],[100-i,i,0],[0,120,-60+i/5],[0,100,-40-i/5]],speed)
# main
def main():
speed = 100
swimming(speed)
pushup(speed)
handwork(speed)
twist(speed)
sleep(0.05)
if __name__ == "__main__":
main()
Play with Ezblock¶
For beginners and novices, EzBlock is a software development platform offered by SunFounder for Raspberry Pi. Ezbock offers two programming environments: a graphical environment and a Python environment.
It is available for almost all types of devices, including Mac, PC, and Android.
Here is a tutorial to help you complete EzBlock installation, download, and use.
Quick Guide on EzBlock¶
There are 2 parts here:
Servo Adjust allows you to keep all the servos at 0 degrees to complete a proper and safe assembly (otherwise you will probably damage the servos).
Install and Configure EzBlock Studio will guide you to download EzBlock Studio to play with your robot.
Servo Adjust¶
When assembling to the part with the servo, you need to keep the servo at 0° and secure it with the servo screw. Please follow the tutorial below to do this.
Firstly, Install EzBlock OS onto a Micro SD card, once the installation is complete, insert it into the Raspberry Pi.
To ensure that the servo has been properly set to 0°, first insert the rocker arm into the servo shaft and then gently rotate the rocker arm to a different angle.
Follow the instructions on the assembly foldout, insert the battery holder cable and turn the power switch to the ON. Wait for 1-2 minutes, there will be a sound to indicate that the Raspberry Pi boots successfully.
Next, plug the servo cable into the P11 port as follows.
At this point you will see the servo arm rotate to a specific position (0°). If the servo arm does not return to 0°, press the RST button to restart the Robot HAT.
Now you can continue the installation as instructed on the assembly foldout.
Note
Do not unplug this servo cable before fastening this servo with the servo screw, you can unplug it after fastening.
Do not turn the servo while it is powered on to avoid damage; if the servo shaft is inserted at the wrong angle, pull out the servo and reinsert it.
Before assembling each servo, you need to plug the servo cable into P11 and turn on the power to set its angle to 0°.
This zeroing function will be disabled if you download a program to the robot later with the EzBlock APP.
Install and Configure EzBlock Studio¶
As soon as the robot is assembled, you will need to carry out some basic operations.
Install EzBlock Studio: Download and install EzBlock Studio on your device or use the web-based version.
Connect the Product and EzBlock: Configure Wi-Fi, Bluetooth and calibrate before use.
Open and Run Examples: View or run the related example directly.
Calibrate the PiCrawler¶
After you connect the PiCrawler, there will be a calibration step. This is because of possible deviations in the installation process or limitations of the servos themselves, making some servo angles slightly tilted, so you can calibrate them in this step.
But if you think the assembly is perfect and no calibration is needed, you can also skip this step.
Note
If you want to recalibrate the robot during use, please follow the steps below.
You can open the product detail page by clicking the connect icon in the upper left corner.
Click the Settings button.
On this page, you can change the product name, product type, view the app version or calibrate the robot. Once you click on Calibrate you can go to the calibration page.
The calibration steps are as follows:
Take out the assembly leaflet, turn it to the last page, and lay it flat on the table. Then place the PiCrawler as shown below, aligning its bottom with the outline on the calibration chart.
Go back to EzBlock Studio, select one foot on the left, then click the 3 sets of X, Y and Z buttons, and let the toes slowly align with the calibration point.
The calibration buttons are used for fine-tuning, and you need to press these buttons multiple times to see the pin position change.
It is recommended to click the up button of Z axis to lift the foot up first, then go to adjust X and Y.
Align the other foot on the left in the same way.
After calibrating the left two feet, change the calibration paper to the right, and calibrate the right two feet according to the above method.
Projects
Here, we show you the projects of playing PiCrawler on Ezblock Studio. If you are new to these, you can refer to the code images inside each project to program, and can learn the use of blocks according to TIPS.
If you don’t want to write these projects one by one, we have uploaded them to Ezblock Studio’s Examples page and you can run them directly or edit them and run them later.
Move¶
This is PiCrawler’s first project. Perform its most basic function - move.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Click the Upload & Run button at the bottom right of the screen, and PiCrawler will execute “forward” and “backward” actions in sequence.
How it works?
First, you need to understand the program framework of Ezblock. as follows:
All Ezblock projects contain these two blocks. The Start block runs at the beginning of the program and is executed only once, and is often used to set variables; the Forever block runs after Start, and will be executed repeatedly, and is often used to implement main functions. If you delete these two blocks, you can drag them back from the Basic category on the left.
Next you need to understand the following blocks.
do action allows PiCrawler to perform basic actions. You can modify the options in the first groove. For example, select “Turn Left”, “Back” and so on. The second groove can set the number of executions of the action, and only integer numbers greater than 0 can be written. The third groove can set the speed of the action, and only integers within 0~100 can be written.
do step is similar to do action, but it is not an action but a static posture. Such as “stand”, “sit”.
Both blocks can be dragged from the PiCrawler category on the left.
Remote Control¶
In this project, we will learn how to remote control the PiCrawler. You can control the PiCrawler to move forward, backward, left, and right.
Note
You can refer to How to Use the Remote Control Function?. Come and carry out this project smoothly.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Switch to the Remote Control interface, and you will see the following widgets.
After the program is running, you can activate PiCrawler through D-Pad.
How it works?
After dragging out the widget on the Remote Control interface, a category named Remote will appear in the block categories column of the programming interface.
Here we add the D-Pad widget, so the D-Pad get value block appears here.
D-Pad can be regarded as a four-in-one button. You can choose which button to read in the second groove of the block.
When the button is pressed, the value is “1”; when the button is not pressed, the value is “0”.
We used an if block (you can find it in the Logic category on the left) to make the PiCrawler move forward once when the UP button of the D-pad is pressed.
You can click the gear icon on the upper left of the block to modify the shape of the if block to realize multiple judgment branches.
if block is usually used with = block, = block can be modified to >, < and other conditions through the drop-down menu, please use it flexibly.
Sound Effect¶
In this example, we use PiCrawler’s (to be precise, Robot HAT’s) sound effects. It consists of three parts, namely Muisc, Sound, Text to Speech.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Switch to the Remote Control interface, and you will see the following widgets.
After the program is running, you can press different buttons to make PiCrawler sound.
How it works?
Functions related to background music include these:
Functions related to sound effects include these:
Functions related to Text to Speech include these:
Obstacle Avoidance¶
In this project, picrawler will use an ultrasonic module to detect obstacles in front. When PiCrawler detects an obstacle, it will send a signal and look for another direction to move forward.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
How it works?
You can find the following blocks in the Module category to achieve distance detection:
It should be noted that the two pins of the block should correspond to the actual wiring, that is, trig-D2, echo-D3.
Here is the main program.
Read the
distancedetected by ultrasonic module and filter out the values less than 0 (When the ultrasonic module is too far from the obstacle or cannot read the data correctly,distance<0will appear).When the
distanceis less thanalert_distance(the threshold value set earlier, which is 10), play the sound effectsign.wav. PiCrawler doesturn left.When the
distanceis greater thanalert_distance, PiCrawler will moveforward.
Computer Vision¶
This project will officially enter the field of computer vision!
Note
You can read How to Use the Video Function?. Come and carry out this project smoothly.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Switch to the Remote Control interface, and you will see the following widgets.
After the program is running, you can switch the slider widget to turn on/off the face detection; click the D-Pad to select the color of the detection; click the button to print the detection result.
How it works?
This block is used to enable the camera module.
These two blocks are used to enable the face detection/color detection function.
These two blocks are used to output information. The detection result has five output values, namely coordinate x value, coordinate y value, width, height, and number.
Bull Fight¶
Make PiCrawler an angry bull! Use its camera to track and rush the red cloth!
Note
You can download and print the PDF Color Cards for color detection.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Switch to the Remote Control interface, you will see the following screen.
How it works?
In general, this project combines the knowledge points of Move, Computer Vision and Sound Effect.
Its flow is shown in the figure below:
Treasure Hunt¶
Arrange a maze in your room and place six different color cards in six corners. Then control PiCrawler to search for these color cards one by one!
Note
You can download and print the PDF Color Cards for color detection.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Switch to the Remote Control interface, and you will see the following widgets.
How it works?
In general, this project combines the knowledge points of Remote Control, Computer Vision and Sound Effect.
Its flow is shown in the figure below:
Pose¶
PiCrawler can assume a specific posture by writing a coordinate array. Here it assumes a raised right rear foot posture.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
How it works?
In this code, the code you need to pay attention to is this do step.
It has two uses:
One: It can directly use stand or sit.
Second: It can also write an array of 4 coordinate values.
Each foot has an independent coordinate system. As shown below:
You need to measure the coordinates of each toe individually. As shown below:
Adjust Posture¶
In this example, we use the remote function to control the PiCrawler foot by foot and assume the desired posture.
You can tap the button to print out the current coordinate values. These coordinate values come in handy when you create unique actions for PiCrawler.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Switch to the Remote Control interface, and you will see the following widgets.
How it works?
What you need to pay attention to in this project are the following three blocks:
Modify the coordinate value of a certain leg individually.
Returns the coordinate value of the corresponding leg.
You may want to simplify the program with Functions, especially when you perform the same operation multiple times. Putting these operations into a newly declared function can greatly facilitate your use.
Record New Step¶
We use the remote function to control PiCrawler to make several poses in turn, and record these poses. Replay them later.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Switch to the Remote Control interface, and you will see the following widgets.
How it works?
This project was born out of Adjust Posture. Added recording and replay functions.
The recording function is implemented by the following code.
The replay function is implemented by the following code.
Twist¶
We already know how to make PiCrawler assume a specific pose, the next step is to combine the poses to form a continuous action.
Here, PiCrawler’s four feet are up and down in twos, jumping with the music.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
How it works?
It uses two layers of for loops to make the new_step array produce continuous and regular changes, and at the same time, do step executes the posture to form a continuous action.
You can intuitively get the coordinate value array corresponding to each pose from Adjust Posture.
One thing you need to pay attention to is this coordinate matrix block:
It is essentially a two-dimensional array, which can be processed by blocks in the List category. Its structure is [[right front],[left front],[left rear],[right rear]].
In other words, in this example, new_step#1 corresponds to the right front; new_step#2 corresponds to the left front; new_step#3 corresponds to the left rear; and new_step#4 corresponds to right rear.
Emotional Robot¶
This example shows several interesting custom actions of PiCrawler.
It is a supplementary example of Twist.
Program
Note
You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.
Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.
Appendix¶
Filezilla Software¶
The File Transfer Protocol (FTP) is a standard communication protocol used for the transfer of computer files from a server to a client on a computer network.
Filezilla is an open source software that not only supports FTP, but also FTP over TLS (FTPS) and SFTP. We can use Filezilla to upload local files (such as pictures and audio, etc.) to the Raspberry Pi, or download files from the Raspberry Pi to the local.
Step 1: Download Filezilla.
Download the client from Filezilla’s official website, Filezilla has a very good tutorial, please refer to: Documentation - Filezilla.
Step 2: Connect to Raspberry Pi
After a quick install open it up and now connect it to an FTP server. It has 3 ways to connect, here we use the Quick Connect bar. Enter the hostname/IP, username, password and port (22), then click Quick Connect or press Enter to connect to the server.
Note
Quick Connect is a good way to test your login information. If you want to create a permanent entry, you can select File-> Copy Current Connection to Site Manager after a successful Quick Connect, enter the name and click OK. Next time you will be able to connect by selecting the previously saved site inside File -> Site Manager.
Step 3: Upload/download files.
You can upload local files to Raspberry Pi by dragging and dropping them, or download the files inside Raspberry Pi files locally.
About the Battery¶
Applicable Parameters
3.7V
18650
Rechargeable
Li-ion Battery
Button Top
No Protective Board
Note
Robot HAT cannot charge the battery, so you need to buy a battery charger.
When the two power indicators on the Robot HAT are off, it means the power is too low and the batteries need to be charged.
Button Top vs Flat Top?
Please choose battery with button top to ensure a good connection between the battery and the battery holder.
Button Top |
Flat Top |
|---|---|
|
|
No protective board?
You are recommend to use 18650 batteries without a protective board. Otherwise, the robot may be cut power and stop running because of the overcurrent protection of the protective board.
Battery capacity?
In order to keep the robot working for a long time, use large-capacity batteries as much as possible. It is recommended to purchase batteries with a capacity of 3000mAh and above.
PuTTY¶
If you are a Windows user, you can use some applications of SSH. Here, we recommend PuTTY.
Step 1
Download PuTTY.
Step 2
Open PuTTY and click Session on the left tree-alike structure. Enter the IP address of the RPi in the text box under Host Name (or IP address) and 22 under Port (by default it is 22).
Step 3
Click Open. Note that when you first log in to the Raspberry Pi with the IP address, there prompts a security reminder. Just click Yes.
Step 4
When the PuTTY window prompts “login as:”, type in “pi” (the user name of the RPi), and password: “raspberry” (the default one, if you haven’t changed it).
Note
When you input the password, the characters do not display on window accordingly, which is normal. What you need is to input the correct password.
If inactive appears next to PuTTY, it means that the connection has been broken and needs to be reconnected.
Step 5
Here, we get the Raspberry Pi connected and it is time to conduct the next steps.
Install OpenSSH via Powershell¶
When you use ssh <username>@<hostname>.local (or ssh <username>@<IP address>) to connect to your Raspberry Pi, but the following error message appears.
ssh: The term 'ssh' is not recognized as the name of a cmdlet, function, script file, or operable program. Check the spelling of the name, or if a path was included, verify that the path is correct and try again.
It means your computer system is too old and does not have OpenSSH pre-installed, you need to follow the tutorial below to install it manually.
Type
powershellin the search box of your Windows desktop, right click on theWindows PowerShell, and selectRun as administratorfrom the menu that appears.
Use the following command to install
OpenSSH.Client.Add-WindowsCapability -Online -Name OpenSSH.Client~~~~0.0.1.0
After installation, the following output will be returned.
Path : Online : True RestartNeeded : False
Verify the installation by using the following command.
Get-WindowsCapability -Online | Where-Object Name -like 'OpenSSH*'
It now tells you that
OpenSSH.Clienthas been successfully installed.Name : OpenSSH.Client~~~~0.0.1.0 State : Installed Name : OpenSSH.Server~~~~0.0.1.0 State : NotPresent
Warning
If the above prompt does not appear, it means that your Windows system is still too old, and you are advised to install a third-party SSH tool, like PuTTY.
Now restart PowerShell and continue to run it as administrator. At this point you will be able to log in to your Raspberry Pi using the
sshcommand, where you will be prompted to enter the password you set up earlier.
Copyright Notice¶
All contents including but not limited to texts, images, and code in this manual are owned by the SunFounder Company. You should only use it for personal study,investigation, enjoyment, or other non-commercial or nonprofit purposes, under therelated regulations and copyrights laws, without infringing the legal rights of the author and relevant right holders. For any individual or organization that uses these for commercial profit without permission, the Company reserves the right to take legal action.