3 1.2.machineryparts m36 nylon standoff m315 nylon standoff x4 m335 screw x3 x6 x4 m330 screw...

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WarningPlease pay attention to the following issues when purchasing or using the product:

There are small components included in this kit. Swallowing mistakenly or misoperation cancause serious infection and be even fatal. When an accident occurs, please seek medicalassistance immediately.

Please place the product in a safe place where an under-6-year-old cannot touch, who shouldnot use or approach the product.

Juveniles should use the product with their parents.Do not place the product or the components near any AC socket or other circuits to avoidelectric shock.

Do not use the product near any liquid or flame.Do not use or store the product in an extreme environment such as in extremely low or hightemperature and heavy humidness.

Please remember to power off when the product is not in use.Do not touch the moving or rotating part of the product.The product may get heat at some part, which is just normal. But misoperation may causeoverheat.

Misoperation may cause damage to the product. Please take care.Do not connect the positive and negative poles of the power inversely, or the devices in thecircuit may be damaged.

Please place and put the product gently. Do not smash or shock it.

AboutAdeept is a technical service team of open source software and hardware. Dedicated to applyingthe Internet and the latest industrial technology in open source area, we strive to provide thebest hardware support and software service for general makers and electronic enthusiastsaround the world. We aim to create infinite possibilities with sharing. No matter what field youare in, we can lead you into the electronic world and bring your ideas into reality.

The code and manual of our product are open source. You can check on our website:http://www.adeept.com/

If you have any problems, feel free to send an email for technical support and assistance:[email protected]

On weekdays, we usually will reply within 24 hours. Also welcome to post in our official forum:http://www.adeept.com/forum/

http://www.adeept.com/mailto:[email protected]://www.adeept.com/forum/

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CopyrightThis user manual and code can be used for learning, DIY, refitting, etc., except for commercialpurpose. The Adeept Company owns all rights of contents in the manual, including but notlimited to texts, images, data, etc. Any distribution or printing should be implemented with thepermission of the Company, or it will be deemed illegal.

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ContentsContents.............................................................................................................................................. 11. Components List............................................................................................................................. 2

1.1. Acrylic Plates........................................................................................................................ 21.2.Machinery Parts.................................................................................................................... 31.5.Tools.......................................................................................................................................61.6.Self-prepared Parts............................................................................................................. 6

2. Software & Hardware.....................................................................................................................72.1. Software Installation............................................................................................................ 72.2. Download Program............................................................................................................ 132.3. Set Up a Raspberry Pi.........................................................................................................13

3.Assemble the Robotic Arm............................................................................................................193.1 Preparations before Assembly............................................................................................193.2.Install Raspberry Pi and Adeept RobotHAT.........................................................................213.3.Install and Remove Batteries.............................................................................................. 233.4.Install Remote Control........................................................................................................ 263.5.Assemble Robotic Arm........................................................................................................293.6 Install the Pedestal.............................................................................................................. 53

4. Install Python3.7 in the PC...........................................................................................................644.1.Install Python3.7................................................................................................................. 644.2. Run the RaspArm............................................................................................................... 64

5. Afterword......................................................................................................................................66

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1.ComponentsList1.1.Acrylic Plates

The acrylic plates are fragile, so please be careful when assembling them in case of breaking.The acrylic plate is covered with a layer of protective film. You need to remove it first.Some holesin the acrylic may have residues, so you need to clean them before the use.

3MM

5MM

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1.2.MachineryParts

M3*6Nylon

Standoff

M3*15Nylon

Standoff

X4

M3*35Screw

X3 X6 X4

M3*30Screw

M3*25Screw

M2.5*6+6CopperStandoff

M3*16Screw

M3*14Screw

X4 X47 X13 X4

X6 X40 X1 X18

X5 X15 X12 X7

X4 X4 X4 X3 X2

X2

X4

X1

M3*30Nylon

Standoff

M3*10Countersunk

HeadScrew

M7*12*0.3Metal washer

M2.5*14Screw

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M2Nut

M3Nut

M3LockNut

M2*10Screw

M2.5*4Screw

M2.5*8Screw

M3*12Screw

M2.5*10Screw

M3*8Screw

M2.5Nut

M3*40Nylon

Standoff

M3*25Nylon

Standoff

M2.5*14CopperStandoff

X2

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MG -946R X2 SG- 5010 X4

WS2812 LED Module X2

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M3*22Nylon

Standoff

Sucking disc component

Cap NutX4

51108 Bearing X1

Sucking DiscX4

1.4.ElectronicParts

LCD-1602X1

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IIC Interface Module X1 Rotary Button X1

MPU-6050 X1 3pin Wire X2

5 Pin Wire X1 IIC Cable

18650 Battery Holder Set X1

Servo Extension Cable X1

Adeept Robot HAT X1

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1.5.Tools

1.6.Self-preparedParts

Cross Socket wrench X1

Cable Tie X3

Cross Screwdriver X1

Large Cross-head Screwdriver X1

18650 Battery X2

Winding Pipe X1 300mm*2

Ribbon X1

Flathead screwdriver X1

Raspberry Pi X1

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2.Software2.1.Software InstallationInstall the Raspbian Operating SystemFirst, install the operating system for the Raspberry Pi. The official system, Raspbian, isrecommended. If you've finished the installation and the system works well, you may skipthis step.You need to download the Win32 Disk Imager and burn the operating system to the SDcard.Download the Win32 Disk Imager at:https://sourceforge.net/projects/win32diskimager/

Download the Image for RaspbianGo to Raspberry Pi official website:https://www.raspberrypi.org/click though Download->Raspbian. Raspbian is suitable for novice since it's supportedby Raspberry Pi and based on Linux.

https://sourceforge.net/projects/win32diskimager/https://www.raspberrypi.org/

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Step3: Click Write towrite the system

After it's downloaded, unzip it for later SD card system creation.

Write Raspberry Pi Operating System to SD CardFirst, insert the SD card into the card reader and connect it to the USB port of thecomputer.Click open the Win32 Disk Imager and choose the path of the SD card (here it's Disk G).Click open the .img file extracted previously, and clickWrite.

Display the Filename ExtensionFor some operations, you may need to change the filename extension (suffix). In someWindows systems, they are hidden by default and you need to make the setting. You maysearch on the Internet by yourself for how to display the filename extension (suffix) in yourown system.For example, in Windows 7, you may go to My Computer ->Organization ->Folder andSearch->View, and uncheck the Hide extensions for known file types.

Step1: Choose the right pathStep2: Open the extracted “.img”

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Enable SHH and Setup WiFiKeep the SD card connected with the computer. Open the root directory of the card andcreate a file named ssh without any suffixes.Under the root directory of the SD card, create a file wpa_supplicant.txt and write thefollowing contents into the file:

country=USctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdevupdate_config=1

network={ssid="WIFI"psk="PASSWORD"key_mgmt=WPA-PSKpriority=1}

In the code above, replace WIFI with your own WiFi SSID name and PASSWORD withyour password for the WiFi network. Save the file and change the name of the filewpa_supplicant.txt into wpa_supplicant.conf.* Make sure MAC filtering has been turned off for the router.* The WPA-PSK behind key_mgmt= is the common encryption method for most routers. Ifthe network connection fails, you may log in and check on the router management page.* For more about the network connection for Raspberry Pi, please visit the related pagevia this link:https://www.raspberrypi.org/forums/viewtopic.php?t=203716The two files newly created are as shown below:

Download and Install PuTTyPuTTy is a software that connects with the Raspberry Pi via ssh. With the tool, you maycontrol the Raspberry Pi by the computer.Download:https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html

https://www.raspberrypi.org/forums/viewtopic.php?t=203716https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html

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Acquire Raspberry Pi’s IP AddressInstall the 18650 batteries and switch on the car.Method A: Log in to the router management page on the computer to check the address ofthe Raspberry Pi.Method B: Download the Network Scanner App to check the address.The address of the Raspberry Pi is the one with "Raspberry".* The name of the router that the computer or mobile connects should be consistent withthe one of the WiFi in the file wpa_supplicant.conf written to the root directory of the SDcard in the Raspberry Pi.

Connect the Raspberry Pi and ComputerOpen PuTTy, enter the IP address of the Raspberry Pi in Host Name (or IP address) andclick Open.

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If a warning window prompts, click Yes.

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Then a terminal will pop up. The default account is pi.

The password for login is raspberry by default.* When you typing in the password, nothing will appear on the screen but it does not meanno input. Type in the password carefully and press Enter after it's done.Log in successfully.

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2.2.DownloadProgramSetting up in a Raspberry Pi may take you a lot of time, and there are too many librariesneeded, so we write a python program to do the most of works for you.

NOTE: If you want to know the exact details of the program, you can skip this chapter.NOTE: This setup.py program is needed to download and install a lot of applications andlibraries, and sometimes the server or internet may break down, which may lead to someproblems that the setup.py could not fix. Then you must set up a raspberry pi yourself, byfollowing the instructions of next chapter named Set Up a Raspberry Pi.

Download the program of the PiCar-B.Input the code below to download: (Note that the commands entered here must be inlowercase)sudo git clone https://github.com/adeept/rasparm.gitThen setup：sudo python3 rasparm/setup.pyIt may take some time to finish.Now you can skip the next chapter and Install Python3.7 in the PC directly.

2.3.SetUpaRaspberryPiNOTE: You should skip this chapter if you finished the last one and Install Python3.7 in thePC directly.

Unrestricted Access to Raspberry PiThe Linux operating system is a multi-user operating system which allows multiple usersto log in and use the computer. Normal users are not normally allowed to edit files in otherusers' folders or any of the system files. You can run commands as the root user byusing the sudo command before the program you want to run.More information in: https://www.raspberrypi.org/documentation/linux/usage/root.md

Set Up A Root UserTo change ordinary user into root user on the terminal, you need to setup up a passwordfor the user by entering the following command in the terminal of the RPi:sudo passwd rootEnter the passwd twice, as shown below:

https://www.raspberrypi.org/documentation/linux/usage/root.md

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Log in as Root UserType in the following command in the terminal of the Raspberry Pi:su –Press Enter, and type in the password to confirm.

Update SystemThe system you downloaded may not be the latest version and it may causeinconvenience in the subsequent operations. Here we first upgrade the system of theRaspberry Pi. Type in the following command:sudo apt-get updateThe apt-get update command is to acquire the up-to-date software lists and update all thesoftware, to provide the latest software for next system upgrade.sudo apt-get upgrade

The window will prompts "Do you want to continue", type in Y and press Enter.It may take some time for the system upgrade. During this period, do not carry out anyoperations with the Raspberry Pi until it's done.In this process, you may continue reading the following contents to download the Python3.7and OpenCV under the Windows system.

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Enable I2C and CameraAfter the Raspberry Pi is updated, you may continue operations on it.The Adeept Motor HAT V1.0 communicates with the Raspberry Pi via the I2C port but theI2C port is disabled by default. You need to enable it:sudo raspi-configA window will pop up.Click through5 Interfacing Options->P5 I2C->Yes->OK->Finish

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Now you’ve already enabled I2C, move on to enable Camera.sudo raspi-configClick through:5 Interfacing Options ->P1 Camera ->Yes ->OK ->Finish ->YesReboot the Raspberry Pi. If it does not reboot automatically, type in the followingcommand:rebootThen the I2C and Camera module are both enabled.After the Raspberry Pi is rebooted, type in the following command to check that themodule has been enabled:lsmod | grep i2cIf the following contents are shown, it indicates the module is enabled successfully.

Install I2C-ToolsInstall I2C-Tools to check whether the external devices are connected successfully as wellas the address of the devices. Type in the command to install:sudo apt-get install i2c-toolsInstall the Python drive program for PCA9685:sudo pip3 install adafruit-pca9685To install the library from source, so that you can use the PCA9685 PWM servo/LEDcontroller with a Raspberry Pi.Look for more information and example at its homepage:https://github.com/adafruit/Adafruit_Python_PCA9685/

https://github.com/adafruit/Adafruit_Python_PCA9685/

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*Now you may wonder about the difference between apt-get install and pip install, here isthe answer:pip3 is used to download and install packages directly from PyPI (Python Package Index),hosted by Python Software Foundation. It is a specialized package manager that onlydeals with python packages.Note: There are two versions of Python in Raspberry Pi by default, for our Pythonprograms are written with Python 3.x(3.7), you need to use pip3 instead of pip, which isused to install software in Python 2.x.apt-get is used to download and install packages from Ubuntu repositories which arehosted by Canonical.

MPU6050 Installationsudo pip3 install mpu6050-raspberrypiThis is a package used to read data from mpu6050.

Download Packages for WS_2812:sudo pip3 install rpi_ws281xrpi_ws281x is a Raspberry Pi library for controlling WS281X LEDs.

Download Program for the RaspArmgit clone https://github.com/adeept/rasparm.git

Set AP-HotspotConfigure the Raspberry Pi as the Wi-Fi hotspot mode to build up a direct communicationbetween the PC and the car.If the RPi Car starts and there is no Wi-Fi to connect with, the RPi Car will set aAP-Hotspod itself. You can connect it with your PC:Search Wi-Fi SSID name: AdeeptCarPassword: 12345678

Check the following steps and more information from Github:https://github.com/oblique/create_ap

Downloadthe code from Github to a local path for installation:git clone https://github.com/oblique/create_apcd create_apsudo make installInstall the dependent libraries:sudo apt-get install util-linux procps hostapd iproute2 iw haveged dnsmasq

Add the RPi Car program to auto-startCreat a car.desktop to add the RPi Car program to auto-runsudo nano /home/pi/.config/autostart/car.desktop

Type in：

[Desktop Entry]

https://github.com/oblique/create_ap

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Name=CarComment=CarExec=sudo python3 /home/rasparm/server/server.pyIcon=falseTerminal=falseMutipleArgs=falseType=ApplicationCatagories=Application;Development;StartupNotify=true

Then press Ctrl + X to exit editingInput Y to save and press Enter to confirm.

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3.AssembletheRoboticArm3.1Preparations beforeAssembly

Connect the WS2812 LED ModulePlease note that the end marked with white strip is the signal input, and the end without whitestrip is the signal output.

Connect Rotary Encoder(Connect the encoder with the larger end of 5 Pin wire)

The end marked with white strip is thesignal input

The connection between twoWS2812 LED Module

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Connect MPU-6050

(Pay attention to the interfaces at the two adjacent ends, and select the interface with thelongest connecting wire to connect to the MPU-6050.)

Connect IIC interface Module and LCD1602 .

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3.2.Install RaspberryPi andAdeeptRobotHAT.Assemble the following components

Effect diagram after assembling

M2.5*6+6 Copper StandoffX4

M2.5*4 ScrewX4

M2.5*14 copper standoffX4

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2.Connect the battery holder and Raspberry Pi.

Note that the switch is "OFF".

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Take out 2 ribbons and 2 batteries.

To remove the batteries, just pull the ribbon and take them out.

Install the batteries into the holder based on the pole.

Insert the batteries into the rings-ribbon closer to the anode.

Roll one end of the ribbon to let through a battery and fix.

3.3.Install andRemoveBatteries

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2.Connect the servos to Adeept Robot HAT.In the subsequent assembly tutorial, connect the servo to 0.1.2.3 PWM port in the following way,Raspberry Pi will automatically check the servo position.

The color of the servo wirecorresponds to the color of theport.

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3.Turn on the power and debug the servo.Before switching on, you need to insert the configured SD card into the Raspberry Pi. For details,please refer to the second part chapter of the document. Otherwise, the servo will not rotate tothe middle position after booting. If SD card is not inserted, the servo needs to be rotated to themiddle position manually.In the next installation, the servos need to be connected to the robot HAT. And the Raspberry Pi willautomatically adjust the servo to the correct angle.

After debugging, remove the servo and battery holder, and take the 18650 batteries out of theHolder Set. Do not rotate the rotation axis before the servo fixed to the rocker arm. Otherwise,you need to re-debug the servo.

Turn the switch here to “ON” (power on), the servo will automatically rotate to theinitial position. Wait a few seconds till the servo stop, and then turn the switch to“OFF” (power off).

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3.4Install RemoteControl1. Install Rotary Button

Assemble the following components


Rotary ButtonX1

M2.5*8 ScrewX2

M2.5 NutX2

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2. Install MPU-6050Assemble the following components


M3*8 ScrewX2

MPU-6050X1

M3 NutX2

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M3*8 ScrewX6

M3*25 Nylon StandoffX3

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3.5.AssembleRoboticArm1. Install servo.Assemble the following components


Acrylic A0-13X4

M3 NutX2M3*25 Screw

X2

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Assemble the following components (Assemble two more for backup).




Servo rocker armfrom servo

7*12*0.3 spacerX1Self-tapping screw

with servo X1Servo rocker armfrom servo

7*12*0.3 spacerX1

Self-tapping screwwith servo X1

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M3 Lock NutX4

M3*16 ScrewX4

Acrylic A1-7X4

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Install the servo SG-5010 (pay attention to the nameplate on the servo).Asemble the following components


M3*12 ScrewX4

M3 NutX4

SG-5010

M3 NutX4

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The connection part of thelock nut needs to be rotatedplease do not tighten thelock nut.

M3*16 ScrewX3

M3 LockNut X3

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M3*15 Nylonstandoff X1

M3*8 ScrewX2

install the servo in the state ofdebugging

M2.5*14 ScrewX1

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M3*25 ScrewX3

M3 NutX3

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M3*15 NylonstandoffX2

M3*8 ScrewX4

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M3*25 ScrewX2

M3 NutX2

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M3*14 ScrewX1

The connection part of the lock nu

t needs to be rotated, please do n

ot tighten the lock nut.

M3 lock NutX1

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Acrylic A0-3X2

M3 lock nutX3

The connection part of the lock nut

needs to be rotated, please do not

tighten the lock nut.

Acrylic A1-22X2

Acrylic A0-2X2

M3*30 ScrewX1

M3*25 ScrewX2

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M3 Lock NutX1

M3*25 ScrewX1

The connection part of the lock nut



Acrylic A1-22X1

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M3 Lock NutX1 The connection part of the lock nut



Acrylic A1-22X1

M3*35 ScrewX1

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Install the servo SG-5010Assemble the following components (pay attention to the nameplate on the servo).


M3 NutX8

M3*12 ScrewX8

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M2.5*10 ScrewX1

install the servo rocker arm in thestate of debugging

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Acrylic A0-7X4

M3 NutX4

M3*16 ScrewX4


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Please install the servo in the state of debugging and install it at the angle shown in the figure. Payattention to the meshing angle of the gear.Effect diagram after assembling

M3*12 ScrewX2

About 30 degrees

M2.5*14 ScrewX1

M3 NutX2

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M3*35 ScrewX6

M3 NutX6

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Self-tapping screwwith servo X4

Servo rocker armfrom servo

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M3 NutX4

M3*16 ScrewX4

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Please follow the installation direction.For convience of the subsequent installation, batteryholder and Raspberry Pi can be disconnected after the servo is debugged.Effect diagram after assembli

M3*4 Screw fromServo

install the servo rocker arm inthe state of debugging

A

A

A

A

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M3*6 Nylon satndoffX4

M3*8 SCREWX4

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Please follow the installation direction.Effect diagram after assembling

BB

M3 NutX4

B

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M3*8 ScrewX4

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3.6 Install thePedestal.Assemble the following components


IIC InterfaceModule

M3 NutX4

M3*12 ScrewX4

Acrylic A0-13X4

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M3 NutX2

M3*10 CountersunkHead Screw X2

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M2.5*8 ScrewX4

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WS2812X2

M2 NutX4

M2*10 ScrewX4

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M3*8 ScrewX4


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M3*8 ScrewX6


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M3*8 ScrewX2

M3*14 ScrewX4

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Cap NutX4

Sucking Disc X4

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Connect the robotic arm to Raspberry Pi according to the diagram below.

LED 1 LED 2

18650 BatteryHolder Set X1

Rotray Batton

Led 2

Servo

MPU-6050

PWM 3

PWM 2 PWM 1

Led 1

ICD 1602 &IIC interfacemodule

PWM 0

Pay attention to the interfaces at thetwo adjacent ends, and select theinterface with the longest connectingwire to connect to the MPU-6050.

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M3*8 ScrewX4

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4. InstallPython3.7 inthePC4.1.Install Python3.7

So far there are two versions of Python: 2.X and 3.X. The graphical UI of the terminalcontrol is written in Python 3.7 and it supports multiple platforms. Here we'll focus on theinstallation of Python 3.7 under Windows.Download Python 3.7: https://www.python.org/

Click through Downloads->Download Python 3.7.0.Install it after download is done. Python will configure the environment variables during theinstallation.*Pay attention to the 32-bit or 64-bit of your system when downloading Python - choosethe corresponding Python version based on your own system.

4.2.Run theRaspArmStartSwitch on the RaspArm.Note: The moment the power is turned on, the arm will swing randomly at a small range. Pleasekeep your eyes away from the swing range of the arm as much as possible. After the Raspberry Piis turned on, the servo on the arm will drive the corresponding joint to swing to the initialposition successively, while the LCD screen will display the port number of the servo to be movedand the remaining time of the movement. This is a security feature that is turned on by default,and you can turn it off by changing the code.The gamepad of RaspArm has four input modes: Rotation, Short-press, Long-press I andLong-press II.

https://www.python.org/

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Short-press: Press the button and release it quickly. At this time, the LED will turn red whenpressed. When it is released, it will change back to the previous color.

Long-press I: Press and hold the button for a while and then release. Specifically, the moment thebutton is pressed, the button turns red. After a short period of time, the LED turns blue and dimsgradually. Release the button when the blue becomes completely dark out.

Long-press II: Press and hold the button until the LED turns red - turns blue - blue dims gradually-becomes bright light blue and then release.

After the normal boot, the default operation interface is the mode selection interface. Under theoffline state, RaspArm has 4 modes to choose by default, which are:

In this mode, you can control the servo with the rotary encoder on the gamepad. Rotate to adjustthe PWM of the corresponding servo port; short-press to switch the servo port; long-press II toexit the mode and enter the menu interface of the selection mode.

In this mode, you can control the RaspArm with the attitude sensor on the gamepad. The rotaryknob can control the PWM of port3 (the servo of the clip by default); the lateral tilt of thegamepad can control the PWM of port0; the pitch tilt can control the PWM of port1 and port2;you can choose to control the specific one by short-pressing the button; long-press II to exit themode and enter the menu interface of the selection mode.

This mode allows RaspArm to automatically loop the programmed steps. Short-press to select theservo needs to be controlled; Long-press I to save the current position; In theory, you can savemore than 20 million positions. Long-press II to start looping the programmed steps. Afterstarting, long-press II to exit the loop and enter the menu interface of the selection mode.

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The name of this mode comes from a kind of photography technology. Compared with the mode, this mode can customize the time required for the movement between anytwo positions and the number of motion decomposition in addition to the position information.After locating, long-press I to input the time required to move to the next position, thenlong-press I again to enter the number of motion decomposition to move to the next position,and then input the next position, theoretically it can save more than 10 million positions. Afterthe input is completed, long-press II to exit the loop and enter the menu interface of theselection mode.

When RaspArm is turned on, it will automatically search for known Wi-Fi. If there is one , it willautomatically connect to it. You can remotely control RaspArm through the GUI program on thePC(You can download it from https://github.com/adeept/rasparm/). If RaspArm is not connectedto Wi-Fi after booting, it will automatically create a Wi-Fi hotspot which you can connect throughthe computer. The default address of the server is 192.168.12.1, and the rest of the operationremains unchanged.

5.AfterwordThanks for purchasing our product and reading the manual! If you spot any errors or have anyideas or questions for the product and this guide, welcome to contact us! We will correct them ifany as quickly as possible.After completing all projects in the guide, you should have some knowledge of the Raspberry Piand Robot, thus you can try to change the robot into other projects by adding more Adeeptmodules or changing the code for extended functions.For more information about Arduino, Raspberry Pi, Smart car robot, or robotics, etc., pleasefollow our website www.adeept.com. We will introduce more cost-effective, innovative andintriguing products!Thanks again for choose Adeept product and service!

http://www.adeept.com

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Contents1. Components List1.1. Acrylic Plates1.2.Machinery Parts 1.6.Self-prepared Parts

2. Software 2.1. Software Installation2.2. Download Program2.3. Set Up a Raspberry Pi

3.Assemble the Robotic Arm3.1 Preparations before AssemblyConnect IIC interface Module and LCD1602 .3.2.Install Raspberry Pi and Adeept Robot HAT.3.3.Install and Remove Batteries3.4Install Remote Control3.5.Assemble Robotic Arm3.6 Install the Pedestal.

4. Install Python3.7 in the PC4.1.Install Python3.74.2. Run the RaspArm

5.Afterword

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3 1.2.machineryparts m36 nylon standoff m315 nylon standoff x4 m335 screw x3 x6 x4 m330 screw...