Mike Harsch mharsch

Roomba exposes both unregulated battery voltage (+14v, GND), and a 5v TTL serial interface via it's mini-din connector. Also exposed is an active-low signal pin called DD (Device Detect) that can be used to wakeup a sleeping/off Roomba.

Rpi has a 3.3v TTL serial interface exposed on it's header pins. Also, Rpi exposes +5v, +3.3v, GND, as well as GPIO pins.

We can leverage the Roomba battery to power the Rpi by adding a voltage regulator circuit between the roomba min-din battery pins and the 5v/GND power pins on the Rpi header. I've chosen the following part from the RC community (called a UBEC Universal Battery Elimination Circuit) to power the Rpi: this or this

To convert the 5v Roomba signals (both serial and DD) to/from 3.3v, I've chosen this:

	install 18.04 server
	sudo apt install linux-generic-hwe-18.04
	reboot
	download proprietary AMD driver file: amdgpu-pro-20.10-1048554-ubuntu-18.04.tar.xz
	tar -Jxvf amdgpu-pro-20.10-1048554-ubuntu-18.04.tar.xz
	amdgpu-pro-install --opencl=pal --headless
	reboot
	download fahclient file fahclient_7.6.9_amd64.deb
	sudo dpkg -i --force-depends fahclient_7.6.9_amd64.deb
	sudo usermod -a -G video fahclient

	Download client from https://download.foldingathome.org/releases/public/release/fahclient/debian-stable-64bit/
	sudo dpkg -i <fahclient.deb>
	<fails>
	sudo update-rc.d FAHClient defaults
	sudo dpkg -i <fahclient.deb> //again
	<works>

	Now the FAHclient start/stop/reload script is located in /etc/init.d
	the config.xml file is located in /etc/fahclient
	and the runtime artifacts (logs) are in /var/lib/fahclient

	Install latest 18.04 (server) version
	apt install software-properties-common
	add-apt-repository ppa:graphics-drivers
	apt install nvidia-headless-440
	apt install nvidia-utils-440
	apt install nvidia-opencl-dev //all of this just to get a symlink for libOpenCL.so

	# see discussion of the above issue here: https://foldingforum.org/viewtopic.php?f=106&t=30836&start=15#p313509
	# workaround: create the following symlink (this let's you skip the whole nvidia-opencl-dev package):
	lrwxrwxrwx 1 root root 18 Mar 19 13:10 /usr/lib/x86_64-linux-gnu/libOpenCL.so -> libOpenCL.so.1.0.0

	break out of initial activation jail on Verizon moto e5 go prepaid phones ($30 at BestBuy -- subsidized price)

	Boot phone and attempt activation -- fails
	tap screen 5 times to go into QR code setup mode -- configure wifi
	restart phone
	attempt activation -- fails, wifi is still connected from before
	attempt a few more times -- fails each time
	go back into QR code setup mode and enter wrong wifi password for your network (breaking wifi)
	phone now shows 4GLTE status
	attempt activation -- fails but allows you to continue with wifi -- reconfigure wifi and move on.

	1.) install ubuntu 18.04.2 server edition from usb
	2.) run sudo apt update && sudo apt dist-upgrade
	3.) download latest linux drivers from amd (e.g. amdgpu-pro-19.10-785425-ubuntu-18.04.tar.xz)
	4.) install drivers with './amdgpu-pro-install -y --opencl=pal,legacy --headless
	5.) add /opt/amdgpu-pro/bin to your path. Test opencl with 'sudo /opt/amdgpu-pro/bin/clinfo'
	6.) add rocm apt source
	wget -qO - http://repo.radeon.com/rocm/apt/debian/rocm.gpg.key \| sudo apt-key add -
	echo 'deb [arch=amd64] http://repo.radeon.com/rocm/apt/debian/ xenial main' \| sudo tee /etc/apt/sources.list.d/rocm.list
	7.) install rocm-smi package
	8.) add the following parameter to the /etc/default/grub file on the GRUB_CMDLINE_LINUX_DEFAULT line: amdgpu.ppfeaturemask=0xffffffff

	Enjoy lighting fast build turnaround time (provided by OnBot Java) without sacrificing a nice (local) development environment.

	1.) Install Atom from atom.io
	2.) within atom, install the 'build' package (https://atom.io/packages/build)
	3.) Install ftc_http per the instructions for your platform (https://github.com/TheLostLambda/ftc_http)
	3.a) Review the ftc_http documentation and watch the video (https://youtu.be/gZabYO8g9mU)
	4.) Create a new directory for your opmode code. Inside this directory, create a file called '.atom-build.js'

	Contents of .atom-build.js

	The following applies to using the ConnectedIO LT1001 and LT1002 LTE modems on Verizon
	in North America with the Raspberry Pi running Raspbian Jessie Lite (04/10/2017).

	These guidelines assume that the modem interface will be the primary connection to
	the Internet under normal conditions (i.e. not initial setup or field servicing).

	Initial Setup

	Establish serial communications with the modem (e.g. minicom -D /dev/ttyACM0).
	Check modem firmware version with AT%VER and decide if you want/need to upgrade.

	package com.qualcomm.ftcrobotcontroller.opmodes;

	import com.qualcomm.robotcore.eventloop.opmode.OpMode;
	import com.qualcomm.robotcore.hardware.DcMotor;
	import com.qualcomm.robotcore.util.Range;

	/**
	* Created by mharsch on 9/12/15.
	*/
	public class VSpeedTeleOp extends OpMode {

	Notes for final nodebots day organizer's meeting:

	Chris will record his intro video and give to dshaw before Thursday
	length will be 20min max
	content will include 'get to blinking led' bootstrap sequence

	dshaw recommends following up with all attendees this week to combat attrition

	Medellín is considering streaming video toward the end of their event