This repository includes all the hardware design and software files for the smarticle system. Examples can be found in Code/Python/Examples. See Smarticle Tracking for the a python AprilTag tracking library and SmarticleSimulation for a PyBullet simulator of the system.
All documentation for the python modules in this repository is available here
You can install pyserial and the XBee Python library using pip
$ pip install pyserial
$ pip install digi-xbee
Use the included SmarticleSyncGait.py to test your setup. You will have to modify PORT_NAME to match the USB port name of the local XBee connected to your computer.
Run the the following command to execute the code and keep the python script open
$ python3 -i SmarticleSyncGait.py
Then you can run this command to run the smarticles for 1 minute
>>> timed_sync(1)
To Change the settings of the Base Xbee, use DIGI XCTU
The Settings for the base Xbee are the default settings for 802.15.4 firmware with these changes:
1. Change mode (AP) to API Enabled
2. Change Pan ID (ID) to 1984
3. Ensure address (MY) is 0
4. Change Destination Low Address (DL) to 0xFFFF (broadcast)
You can also modify these settings in a simple serial console by entering command mode. See this guide for more information.
To modify the code on the smarticles themselves, you will also need to instal MiniCore into the Arduino IDE and an SI Labs driver for the CP2104 chip.
Get the CP210x Driver for your OS: SI Labs Drivers Link
Download Arduino IDE: Arduino IDE Link
Follow the instructions to install in Arduino IDE: MiniCore Link
After Installing all these dependencies you will have to move the files from the Code/Arduino folder into your local Arduino folder (usually found in documents)
1. Move the programmable_smarticle folder into your Arduino directory (should be then documents/Arduino/programmable_smarticle)
2. Move the contents of the repo Arduino/libraries folder into your local Arduino/libraries folder
You will have to restart the Arduino IDE and then you should be able to open the programmable_smarticle.ino sketch and you should see PWMServo, NeoHWSerial, and Smarticle in the Sketch->Include Library file menu.
To upload the program to the smarticle, use the follow board configuration under the tools file menu:
| Field | Value |
|---|---|
| Board | ATmega328 |
| Clock | 8MHz External |
| BOD | BOD 2.7V |
| Compiler LTO | LTO Enabled |
| Variant | 328PB |
| Bootloader | Yes (UART0) |
| Port | select USB port of SI Labs Chip |