STEMbot Documentation

Contents

go - Pi side motor controller.
STEMbot-driver - Listens to controllers and tells STEMbot what to do.

Usage

Power STEMbot:

Plug in battery to ESCs
Plug portable charger into pi
Close STEMbot and plug into one of the teams's routers

Start the controller:

roslaunch stembot stem.launch address:=stembot-phoenix.local

Start the pi code if it isnt running (should automatically):

ssh pi@stembot-botname.local
sudo python go.py

Pi Setup

Install raspbian
Set hostname to stembot-botname
Place go.py in the home directory of pi
Install servo hat library: sudo pip3 install adafruit-circuitpython-pca9685
Place stembot.servce in /etc/systemd/system
Run systemd enable stembot.service to enable running at boot
Reboot the raspberry pi