A few people have expressed an interest in my r2_control system, so I thought I’d do a post about how it works, and what it needs.
At the core is a Raspberry Pi 3B+. This runs the main code, and also any programs to interface controls (PS3, Web, Instant Messenger). It also acts as a wifi hotspot.
From this Pi you can add a Sabertooth 2×32 and Syren 10 via USBSerial to allow control of those using packet serial communications. A python library for which I have written to make things easier.
Recently, a GPIO option has been added to the core code so that you can trigger relays and other switched items directly from pins on the Pi. I use this to trigger the relays that break the connections to the foot motors and dome motor.
Lastly, an i2c connection is available for communicating with various other boards such as the Adafruit 16 Channel PWM controllers, RSeries lights, ReelTwo system, etc.
A basic system to have simple control over a droid with no opening panels and no triggering of dome light sequences can be had with just:
- 1 x Raspberry Pi 3B+
- 1 x Sabertooth 2×32
- 1 x Syren 10
- 1 x USB FTDI (For USB interface to Syren 10)
- 1 x PS3 controller (Or PSMove)
- Whatever dome lights you wish, eg TeeCees.
- Power distribution (Fuses, power switch, etc.)
- 2 x Drive motors (eg. 100W Scooter)
- 1 x Dome motor (eg. pittman)
You can run the Pi from the BEC built into the Sabertooth if you wish, but I do recommend at least a 2A buck converter on its own fuse.
If you want to run any servos, you can add the Adafruit PWM controllers onto the i2c bus, up to 6 can be added by configuring the address jumpers. One in the body and one in the dome is usually enough.
This system can of course be added to. Relay control over the motors, light sequence triggers, and other gadgets such as smoke machines.