Niccolò AvogaroEdoardo Palladin
Published © GPL3+

P3psi, a Web-Driven COVID-19 Carrier Robot

A 4-wheeled rover to transport emergency supplies to infected people without any risk, thanks to an over-4G Flask joypad control and camera.

AdvancedFull instructions providedOver 2 days2,491

Things used in this project

Hardware components

Raspberry Pi Zero
Raspberry Pi Zero
You can use Raspberry Pi 4 instead of Balena and RPi 0. You'll need a 4G Shield/Modem
×1
balenaFin
balenaFin
×1
Camera Module
Raspberry Pi Camera Module
×1
Dual H-Bridge motor drivers L298
SparkFun Dual H-Bridge motor drivers L298
Motor Drivers sould erogate the same voltage as the DC motor (in our case 24V)
×2
Rechargeable Battery, 12 V
Rechargeable Battery, 12 V
×2
Jumper wires (generic)
Jumper wires (generic)
×1
LED (generic)
LED (generic)
×1
DC motor (generic)
Our motors are 24V
×2
Inox Square Tubes (Generic)
×1
Wheels (generic)
×4
Inox Angle Bar (Generic)
×1

Software apps and online services

Raspbian
Raspberry Pi Raspbian
Visual Studio Code Extension for Arduino
Microsoft Visual Studio Code Extension for Arduino
Ultimaker Cura 4.6
Fusion 360
Autodesk Fusion 360
MATLAB
MATLAB

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Drill / Driver, Cordless
Drill / Driver, Cordless
Welder (generic)
3D Printer (generic)
3D Printer (generic)
Angle grinder (generic)
Band saw (generic)

Story

Read more

Custom parts and enclosures

Pan and Tilt Pi4 camera bracket

Pan and Tilt Pi4 camera bracket designed with Autodesk Fusion 360 and 3D printend with Vertex K8200 and Ultimaker Cura

Schematics

Schematics

Schematics of P3psi

Code

main.py

Python
The main Python program
from flask import Flask, render_template, request
import RPi.GPIO as GPIO
import Adafruit_PCA9685
from time import sleep
import json
from flask_cors import CORS
import csv
import numpy

#   PIN Definitions, A stands for motor 1, B for motor 2 
#   ledON is to know if the script is running. Normally set to HIGH.
#   Servo min and max are the corrisponding normal numbers for -90 and 90 

pinPWMA = 32
pinAIN  = 10
pinPWMB = 33
pinBIN = 8
ledON = 7
servo_min = 150 
servo_max = 600
servo_0 = (servo_min+servo_max)/2
servoRatio = (servo_max - servo_0)/100

#   START SEQUENCE:
#   Flask app initialization with CORS parameter

app = Flask(__name__)
CORS(app)

#   GPIO SETUP

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(pinPWMA,GPIO.OUT)
GPIO.setup(pinPWMB,GPIO.OUT)
GPIO.setup(pinAIN,GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(pinBIN,GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(ledON,GPIO.OUT, initial=GPIO.HIGH)

#   PWM setup - the frequency indicates the maximum value
#   your motor controller can deliver

PWMA = GPIO.PWM(pinPWMA, 20000)
PWMB = GPIO.PWM(pinPWMB, 20000)
PWMA.start(0)
PWMB.start(0)

#   Servo object creation, 60Hz is the normal servo frequency.
#   It also reset the position after boot

servo = Adafruit_PCA9685.PCA9685()
servo.set_pwm_freq(60)
servo.set_pwm(1, 0, servo_0)
servo.set_pwm(2, 0, servo_0)

#   Load motors translation function from csv files

#   SX motor
readerSX = csv.reader(open("static/motorSX.csv", "rb"), delimiter=",")
SX = list(readerSX)
funcSX = numpy.array(SX).astype("float")
#   DX motor
readerDX = csv.reader(open("static/motorDX.csv", "rb"), delimiter=",")
DX = list(readerDX)
funcDX = numpy.array(DX).astype("float")


#   Principal route, it render the main index html page

@app.route("/", methods=['GET','POST'])
def index():
    if request.method == "GET":
        return render_template("index.html")

#   Post route, called by POST method by the index page

@app.route("/post", methods=['GET','POST'])
def poster():
    if request.method == "POST":

        #   Collect JSON data sent by POSTer method every 50ms. It saves 
        #   strings into 4 variables which varies from -100 to 100
         
        content = request.json
        motorX = json.dumps(content['motorX'])      
        motorY = json.dumps(content['motorY'])
        servo1 = json.dumps(content['servoX'])
        servo2 = json.dumps(content['servoY'])

        #   Optional/debug, print variables

        #print motorX
        #print motorY
        #print servo1
        #print servo2

        #   Translates strings JSON values to int type to be read from
        #   a PWM changeDutyCycle  

        intMotorX = int(motorX)
        intMotorY = int(motorY)
        intServo1 = int(servo1)
        intServo2 = int(servo2)

        #   Translate motor inputs to direction with motors funtions 
        #   The "+100" is because matrix indexes are from 0 to 200, not from -100 to 100

        motor1Dir = int(funcSX[intMotorX+100][intMotorY+100])
        motor2Dir = int(funcDX[intMotorX+100][intMotorY+100])
        
        #   Optional/debug, print variables

        print(motor1Dir)
        print(motor2Dir)

        #   Motor driver, check direction and then change PWM to the right value

        #   Motor1
        if motor1Dir > 0:
            GPIO.output(pinAIN, GPIO.HIGH)
            PWMA.ChangeDutyCycle(abs(motor1Dir))
            
        else: 
            GPIO.output(pinAIN, GPIO.LOW)
            PWMA.ChangeDutyCycle(abs(motor1Dir))
            
        #   Motor2
        if motor2Dir > 0:
            GPIO.output(pinBIN, GPIO.HIGH)
            PWMB.ChangeDutyCycle(abs(motor2Dir))
            
        else: 
            GPIO.output(pinBIN, GPIO.LOW)
            PWMB.ChangeDutyCycle(abs(motor2Dir))
            

        #   Servo movement. Moves the two servos by following joypad input

        servo.set_pwm(1, 0, servo_0 + int(intServo1*servoRatio))
        servo.set_pwm(2, 0, servo_0 + int(intServo2*servoRatio))
        sleep(0.05)

        return "ok"

#   Initialise the server on 0.0.0.0 default port 5000

if __name__ == '__main__':
    app.run(debug=True, host='0.0.0.0')

index.html

HTML
Index rendered by python
<html>
	<head>
		<style>

			body
			{
				margin: 0px;
				padding: 0px;
				font-family: monospace;
			}
			.row
			{
				display: inline-flex;
				clear: both;
			}
			.columnLateralsx
			{
			float: left;
			width: 15%;
			min-width: 400px;
			}
			.columnLateraldx
			{
			float: right;
			width: 15%;
			min-width: 400px;
			}

		</style>
		<!-- import joystick library and ajax-->
		<script src="static/joy.js"></script>
		<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.4.1/jquery.min.js"></script>

	</head>

	<body>
		<!-- create an iframe object to catch the video from apache server-->
		<iframe id="myFrame" width=100% height=600 style="border:none"></iframe>

		<!-- create a row with the two joysticks-->
		<div class="row">
			<div class="columnLateralsx">
				<div id="joy1Div" style="width:500px;height:500px;margin:10px"></div>
			</div>

			<div class="columnLateraldx">
				<div id="joy2Div" style="width:500px;height:500px;margin:10px"></div>
			</div>			
		</div>

	
		<script type="text/javascript">

// POSTer function uses ajax library to post data from joystick to the server

function POSTer(toLolcalHosta, toLolcalHostb,toLolcalHostc, toLolcalHostd) {
	formDATI = {
            "motorX": toLolcalHosta,
			"motorY": toLolcalHostb,
			"servoX" : toLolcalHostc,
			"servoY" : toLolcalHostd
		};
	
	//	Transform data into JSON to be sent	
    var formData = JSON.stringify(formDATI);

	//	Ajax Request
    $.ajax({
    type: "POST",							// Post method sends data whithoud showing in url
    url: window.location.href + "post",		// Link is taken from the location url added by "post" (flask POST route)
    data: formData,							// Data is JSON dataset
    success: function(){},
    dataType: "json",
	contentType : "application/json",
	secure: true, 
	headers: {								// Header is made for CORS policy
		'Access-Control-Allow-Origin' : '*',
	}

  	});
}

// Set the video source created with the apache server to the localhost:port (port in my case is 8118)
document.getElementById("myFrame").src = window.location.href.replace("5000", "8118") +"html/min.php"

// Create Joystick objects
var Joy1 = new JoyStick('joy1Div');
var Joy2 = new JoyStick('joy2Div');

//Call POSTer function every 50ms, sending data acquired by the two joysticks 
setInterval(function(){ 
	joy1Xvar = Joy1.GetX();
	joy1Yvar = Joy1.GetX();
	joy2Xvar = Joy2.GetX();
	joy2Yvar = Joy2.GetY(); 
	POSTer(parseInt(joy2Xvar), parseInt(joy2Yvar), parseInt(joy1Xvar), parseInt(joy1Yvar)) 
	}, 50);

		</script>
	</body>
</html>

motorDX.csv

MATLAB
Right motor .csv matrix
-100,-98,-96,-94,-92,-90,-88,-86,-84,-82,-80,-78,-76,-74,-72,-70,-68,-66,-64,-62,-60,-58,-56,-54,-52,-50,-48,-46,-44,-42,-40,-38,-36,-34,-32,-30,-28,-26,-24,-22,-20,-18,-16,-14,-12,-10,-8,-6,-4,-2,0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48,50,52,54,56,58,60,62,64,66,68,70,72,74,76,78,80,82,84,86,88,90,92,94,96,98,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100
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