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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