## **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 <div class="multicolumn"> <div> <img src="../img/hw/RoverPiHAT_TOP.png" height="600"> </div> <div> | component | description| |-------------------|-----------------------------------------------------| | imu (mpu6050) | 3-axis accelerometer, 3-axis gyroscope, magnetometer | | rgb led | programmable rgb led | | rover connections | connect motors, servos, other components | </div> </div> --- ## RoverPiHAT Overview [contd.] <div class="multicolumn"> <div> <img src="../img/hw/RoverPiHAT_TOP.png" height="600"> </div> <div> | component | description| |-------------------|-----------------------------------------------------| | uart port| direct uart connection to raspberry pi for shell access | | ultrasonic port | port for plugging in ultrasonic distance sensor | </div> </div> --- ## 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