helva-robot/README.md

# Helva Roboter

We build a robot with raspberry and arduino.

## Checkout Repo
    cd /opt
    git checkout https://git.dyn.mcf.at/Max/helva-robot.git

## Raspberry Face

### Install Packages
    sudo apt update
    sudo apt install -y nginx python3 python3-venv

    sudo mkdir -p /opt/face
    sudo chown -R $USER:$USER /opt/face

    python3 -m venv /opt/face/venv
    /opt/face/venv/bin/pip install --upgrade pip
    /opt/face/venv/bin/pip install fastapi uvicorn

### Exchange Nginx Web-Folder
    sudo rm -r /var/www/html
    sudo ln -s /opt/helva-robot/face/var/www/html/ /var/www/

### Permissions of Webfolder
    sudo chown -R www-data:www-data /var/www/html

### Nginx Vhost
    sudo ln -s /opt/helva-robot/face/etc/nginx/sites-available/face /etc/nginx/sites-enabled/

### Restart nginx
    sudo systemctl restart nginx

### Test Face Server
#### In Browser
http://pi-ip/

#### From Somewhere

`Neutral + wander`

    curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
      -d '{"emotion":"neutral","intensity":0.6,"look":null}'

`Angry + starring right`

    curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
      -d '{"emotion":"angry","intensity":0.9,"look":{"x":0.9,"y":0.0}}'

`start Talking`

    curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
      -d '{"talk":{"enabled":true}}'

`talk faster and stronger`

    curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
      -d '{"talk":{"enabled":true,"rate_hz":5.5,"amount":1.0,"jitter":0.35}}'

`stop talking`

    curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
      -d '{"talk":{"enabled":false}}'

`emotion + talk`

    curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
      -d '{"emotion":"happy","intensity":0.85,"talk":{"enabled":true,"rate_hz":4.2,"amount":0.95}}'

`blink + happy`

    curl -X POST http://<pi>/api/state -H "Content-Type: application/json" \
      -d '{"emotion":"happy","blink":true,"intensity":0.85}'

### systemd Service
    sudo ln -s /opt/helva-robot/face/etc/systemd/system/face.service /etc/systemd/system/

    sudo chown -R www-data:www-data /opt/face
    sudo chmod -R 755 /opt/face

Start:

    sudo systemctl daemon-reload
    sudo systemctl enable --now face.service
    sudo systemctl status face.service --no-pager

### Face Control UI
    http://localhost/control/

### Debug Face

#### SSE-Stream going to browser?
    curl -N http://127.0.0.1:8001/events | head

#### is nginx delivering /events through
    curl -N http://localhost/events | head

#### check Endpoint /api/state
`directly`
    curl -s -X POST http://127.0.0.1:8001/api/state \
      -H "Content-Type: application/json" \
      -d '{"emotion":"happy","intensity":0.9,"blink":true}' | jq

`throught nginx`
    curl -s -X POST http://localhost/api/state \
      -H "Content-Type: application/json" \
      -d '{"emotion":"happy","intensity":0.9,"blink":true}'

#### check python face server
    sudo systemctl status face.service --no-pager
    sudo journalctl -u face.service -n 50 --no-pager

#### restart/reload face server service
    sudo systemctl daemon-reload
    sudo systemctl restart face.service

#### check listening Port
    sudo ss -ltnp | grep :8001

#### restart/status of face service
    sudo systemctl restart face.service
    sudo systemctl status face.service --no-pager

## Arduino Motor Steering

### Pin assignment Arduino -> 2 pcs Motor-Driver-Boards (BTS7960)
- one BTS7960 is for the two left 12V DC motors in parallel 
- one BTS7960 is for the two right 12V DC Motors

Caution! This drivers only work for DC Motors. For stepper motors you will need different motor drivers.


#### Left BTS#1
Power

- VCC -> Arduino 5V
- GND -> Arduino GND

Steering - NEVER activate both directions at once!!!

- RPWM -> Arduino D5 (PWM)
- LPWM -> Arduino D6 (PWM)

Enabled - either directly 5V or steer it from arduino

- R_EN -> Arduino D7
- L_EN -> Ardiono D8


#### Right BTS#2
Power

- VCC -> Arduino 5V
- GND -> Arduino GND

Steering - NEVER activate both directions at once!!!

- RPWM -> Arduino D9 (PWM)
- LPWM -> Arduino D10 (PWM)

Enabled - either directly 5V or steer it from arduino

- R_EN -> Arduino D11
- L_EN -> Ardiono D12


### Arduino Steering Code

Upload to Arduino:
    drive/arduino-sketch/arduino-sketch.ino

### Test with Arduino Serial Monitor

slow forward

    f 60

slow backward

    r 60

## Web Control

For Web-UI-Controller you need to have access to the raspberry-pi i.e. via a hotspot on it.

### Setup

    ln -s /opt/helva-robot/drive/opt/drive-ctl/ /opt/
    sudo chown -R www-data:www-data /opt/drive-ctl
    sudo chmod -R 755 /opt/drive-ctl

    sudo apt install -y python3-venv
    python3 -m venv /opt/drive-ctl-venv
    
    sudo chown -R $USER:$USER /opt/drive-ctl-venv
    /opt/drive-ctl-venv/bin/pip install fastapi uvicorn pyserial

    source /opt/drive-ctl-venv/bin/activate
    pip install fastapi uvicorn pyserial

Configure Arduino-USB-ID

    ls -l /dev/serial/by-id/ 2>/dev/null

Example Output

    usb-1a86_USB2.0-Serial-if00-port0 -> ../../ttyUSB0

Watch USB devices while replugging

    dmesg -T | tail -n 80

Configure the USB-Device-ID in /opt/helva-robot/drive/opt/drive-ctl/server.py

### Activate Web Control Interface

    sudo ln -s /opt/helva-robot/drive/etc/nginx/sites-available/drive /etc/nginx/sites-enabled/drive
    sudo nginx -t && sudo systemctl reload nginx


### Systemd Service for Backend

    ln -s /opt/helva-robot/drive/etc/systemd/system/drive-ctl.service /etc/systemd/system/
    sudo systemctl daemon-reload
    sudo systemctl enable --now drive-ctl
    sudo systemctl status drive-ctl --no-pager -l

Check Serial device is stable, otherwise create a udev rule

    ls -l /dev/ttyACM0 /dev/ttyUSB0
    dmesg | tail -n 50



### Open Web Control UI

    http://pi-ip/drive/

### Debug drive-ctl WebUI

check local webservice

    curl -s http://127.0.0.1:8002/health

should be -> {"ok": true, ... } -> otherwise look at the logs:

    journalctl -u drive-ctl -n 80 --no-pager