Introduction: Raspberry Pi - Minikame

A simple Quadruped controlled by your phone(IOS and Android). Runs on Raspberry Pi and Android.

Required Components:

  1. A Phone
  2. Raspberry Pi
  3. Arduino Nano with Shield
  4. 3D Printed parts

Complete Code :

All stl files:

Step 1: 3D Printing

Print all the following parts:

You can also find all the files on the Thingiverse Page

Step 2: Software

Install the following software on your Pi:

  1. Start by installing Debian on Pi
  2. Download Raspbian.
  3. Unzip the file
  4. Write the disc image to your microSD card
  5. Put the microSD card in your Pi and boot up
  6. Open chromium browser on your Pi
  7. Go to the following link: Arduino
  8. Download and install the software for Linux ARM

Step 3: Pre-Assembly Software and Hardware Check

Serial Communication Check (optional)

1. Upload the "PiArduinoCommunicationTest.ino" which is in "RaspberryPi-Minikame/Pre-Assembly Checks/Serial Communication Check/" to your Arduino Board.

Open a new terminal on your Raspberry Pi and execute the following:

sudo apt-get update
sudo apt-get upgrade
<p>git clone <a href="" rel="nofollow"></a></p><p>cd RaspberryPi-Minikame/Pre Assembly Checks/Serial Communication Check/</p><p>sudo python</p>

Open the Serial Monitor on the Arduino IDE and check for "hi" and "hello" being printed

2. Server Check (optional)

On the same terminal as before execute the following:

cd ..
cd Server Check
sudo python

Now, If you load the URL on browser, you should see a weblamp control page. Your URL would be the IP address of your raspberry pi. Ex:

Homing all Servos (MUST-DO) Number your servos and upload the following code to Arduino to home your servos. Remember: Each servo has been set to a different home location. So each one has a different use and cannot be mixed up randomly later. Link to HomingServos.ino Code

Step 4: Installation of Servos on the Base

Step 5: Assembly of the Legs

Step 6: Joining Legs and the Base

Step 7: Wiring

Connect the Raspberry Pi to Arduino using a USB cable

Connect the Servos using the following port numbers:

FL_HIP = (4);

FL_FOOT = (5);

FR_HIP = (6);

FR_FOOT = (7);

BL_HIP = (8);

BL_FOOT = (9);

BR_HIP = (10);

BR_FOOT = (11);

Step 8: The Server

Execute the following in your terminal to get your server up and running. For now, you might have to execute the server python file each time your pi reboots. V2 of RaspberryPi-Minikame should get rid of that

cd RaspberryPi-Minikame
cd Server
sudo python

Step 9: Arduino Code

Upload the following code to your Arduino and do remember to open the Serial Monitor to use your Quadruped.

Find it here: Arduino

Step 10: Raspi Quadruped App

You can either modify the app for yourself using the files in the App Folder or use the default provided apk. Alternatively, you can also use the files for IOS app, clone it in Xcode and run and install it on your phone