Simple project to controll Rover Robot. Web with cam and API.

Installation instructions

Prepare SD card

Fetch raspbian

curl https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2020-12-04/2020-12-02-raspios-buster-armhf-lite.zip --output 2020-12-02-raspios-buster-armhf-lite.zip

Unzip raspbian image

unzip 2020-12-02-raspios-buster-armhf-lite.zip

Burn (yeah old style) to SD card

dd if=2020-12-02-raspios-buster-armhf-lite.img of=/dev/sdb

Reconnect SD card so it will be mounted (in my case in /media/dawszy/{root,boot}fs

Lets fetch some needed files to: /tmp/rover/

mkdir -p /tmp/rover

Fetch data from git

cd /tmp/rover

git clone https://github.com/sq6emm/4x4-rover.git

cd /tmp/rover/4x4rover/

Now we will modify some files...

Enable pi camera, disable bluetooth/built-in wifi and camera led, set defaults for used gpio pins

cat raspbian/boot/config.txt.addon >> /media/dawszy/bootfs/config.txt cp raspbian/etc/modprobe.d/4x4-rover-blacklist.conf /etc/modprobe.d/

Disable console on /dev/ttyAMA0

remove console=serial0,115200 from /boot/cmdline.txt

Enable wifi (remember to modify this file by adding your WIFI networks)

cp raspbian/boot/wpa_supplicant.conf /media/dawszy/bootfs/

Enable ssh after reboot

cp raspbian/boot/ssh /media/dawszy/bootfs/

Modify /media/dawszy/rootfs/etc/rc.local to disable power saving for wifi.

vi /media/dawszy/rootfs/etc/rc.local

add following lines before "exit 0"

echo "Disabling wlan0 power_save"
/sbin/iw wlan0 set power_save off

Unmount your SD card, place it into RPI and boot...

Tasks after first boot

Connect with ssh as user pi

Disable BT uart (as root)

systemctl disable hciuart

Enable ssh permanently (as root)

systemctl enable ssh

Make full system update (as root)

apt update
apt upgrade

Install required packages (as root)

apt install python3-pip python3-gpiozero git nginx-light

Install python requirements (as pi)

pip3 install fastapi
pip3 install uvicorn
pip3 install picamera

Clone git contents (as pi, in /home/pi)

git clone https://github.com/sq6emm/4x4-rover.git

Enable services

sudo bash
cp /home/pi/4x4-rover/api/rover-api.service /lib/systemd/system/
cp /home/pi/4x4-rover/cam/rover-cam.service /lib/systemd/system/
systemctl daemon-reload
systemctl enable rover-api.service
systemctl enable rover-cam.service
systemctl start rover-api.service
systemctl start rover-cam.service

cp /home/pi/4x4-rover/nginx/sites-available/default /etc/nginx/sites-available/default
systemctl restart nginx

Clean installation

apt remove --purge triggerhappy cron logrotate dbus avahi-daemon triggerhappy bluez
apt autoremove
dphys-swapfile swapoff
dphys-swapfile uninstall
update-rc.d dphys-swapfile remove