Let's program the robot I built in the previous article!
The Eyepot works by using in conjunction a Raspberry Pi Zero W and an Arduino Pro Mini connected by a serial link. Therefore, we'll write the Arduino code first, then a Python program for the Raspberry Pi. Then, we'll setup remote control from a web browser.
The Arduino Pro Mini is responsible for driving the eight servos of the legs. Commands to specify target angles are sent from the Raspberry Pi through a serial link.
The custom serial protocol is text-based and quite simple. It can easily be typed manually when debugging, but it is still compact enough to allow short transmission times even at low bitrates. Each line contains a one-character command, an optional space, and an optional parameter as a base-10 integer. Implemeted commands are as follows:
- 0 to 7: store target angle for corresponding servo (0 to 7)
- R: reset stored target angle to default for each servo
- C: commit stored target angles …