wheelbot-lib

Build and export dockerfile w/ cross compile

docker buildx create --use
docker buildx build --platform=linux/arm64 -t wheelbot-lib:latest --load .
docker save -o ../wheelbot-lib.container.tar wheelbot-lib:latest

Now, build the Buildroot image which copies over the container. Container should be imported and started automatically upon first boot.

Manual setup of container on the Mini Wheelbot

Contents of this repo should be at located at /root/wheelbot-lib on the Mini Wheelbot Pi CM4. Run

docker compose up --build -d

to start the development docker container. This will mount ./ (this repo) into the container at /wheelbot-lib. The container has an ssh server at port 2233 and mounts all devices.

The docker compose file specifies restart to always, the container should therefore automatically start upon reboot, so you only need to do this once.

Mounting remote wheelbot-lib folder on your laptop

From your laptop, you can mount the the /root/wheelbot-lib directory using:

sshfs -o port=22 root@192.168.0.213:/root/wheelbot-lib ~/mnt/wheelbot-lib

Now, you can use the IDE of your choice on your machine to develop on the Mini Wheelbot.

Access the container for building

To compile and run the application inside the docker container

ssh -p 2233 root@192.168.0.213

Building and running the Mini Wheelbot application

In a shell on the docker on the Mini Wheelbot (aka port 2233), go to build directory with

cd /wheelbot-lib/build

and build the software with

make -j8

In case you changed the CMakeLists.txt, you want to run

cmake ..
make -j8

To run the application

./Main

After you ran the application, you can find log files inside the folder

wheelbot-lib/log

Running the Mini Wheelbot software: keyboard yaw control

In a shell on the docker on the Mini Wheelbot (aka port 2233), go to the /wheelbot-lib/build folder. Make sure, that you are on the jsonsetpoint branch (should be the case for wheelbot-beta-3). Now you can start the Mini Wheelbot application by:

./Main

Balance the robot on it's wheel until it stands.

On your laptop, in this repo, go to the scripts/keyboardcontrol folder. You can run the keyboard input program by:

python main.py

Now you can use the A, W, S, and D keys to drive the robot around.

When closing the application, first shut down the Python window on your laptop, then close the main application on the Mini Wheelbot.