## **Lab 1** | Raspberry Pi+RoverPiHAT ### Design of Autonomous Systems ### CSCI 6907/4907 - Section 86 ### Prof. **Sibin Mohan** --- ## Objectives - Configure a Raspberry Pi and RoverPiHAT. - Understand the hardware and its components. - Set up wireless and SSH connections. --- ## Equipment Required - Raspberry Pi 4B (or similar) - RoverPiHAT - MicroSD Card (32GB or larger) - USB to UART Cable - Power Supply (USB-C) - A Computer - A Wifi Network (GW network) --- ## Raspberry Pi Overview <img src="../img/hw/pi.png" height="300"> - **Processor (SoC):** ARM-based CPU - **GPIO Pins:** Interface for external electronics - **Ports:** USB, HDMI, Ethernet, Wi-Fi, Bluetooth - **MicroSD Card Slot:** Stores OS and data --- ## RoverPiHAT Overview - **IMU (MPU6050):** 3-axis accelerometer,3-axis gyroscope, magnetometer - **RGB LED:** Programmable RGB LED - **Rover Connections:** Connect motors, servos, and other rover components - **UART Port:** Direct UART connection to Raspberry Pi for shell access - **Ultrasonic Port:** Port for plugging in ultrasonic distance sensor <img src="RoverPiHAT_TOP.jpeg" height="300"><br> --- ## Setup Steps ### 1. Flash the SD Card - Download Pi OS image: [Raspberry Pi OS](https://www.raspberrypi.org/software/operating-systems/) - A guide to use RaspberryPiImager: [here](https://www.raspberrypi.com/documentation/computers/getting-started.html#raspberry-pi-imager). --- ### 2. Connect via UART - Edit `/boot/config.txt` to include `enable_uart=1`. - Edit `/boot/cmdline.txt` to include `console=serial0,115200`. - Connect UART cable to Raspberry Pi - Use `screen` or Putty to access the terminal. --- ### 3. Connect to Wi-Fi - Configure GWDevice credentials: [GWDevice](http://mydevices.gwu.edu/). - Use `sudo raspi-config` to set up Wi-Fi: - Navigate to Wireless LAN. - Enter SSID and password. --- ### 4. Enable SSH - Use `sudo raspi-config`: - Navigate to Interfacing Options > SSH. - Enable SSH. --- ### 5. Find Raspberry Pi IP Address To find the Raspberry Pi IP address, run the following command in the terminal: ```bash $> ip addr show wlan0 | grep 'inet ' | awk '{print $2}' | cut -d/ -f1 ``` --- ### 6. Install Navio Shield - Mount RoverPiHAT on Raspberry Pi GPIO pins. - Secure with spacers and screws. - Connect Raspberry Pi and RoverPiHAT to the mounting plate. --- ## Summary - Successfully set up Raspberry Pi and NRoverPiHAT. - Configured wireless and SSH access. - Ready for future labs on autonomous systems.