Repository created for educational purposes

YT: https://youtu.be/g4o41eXRbZU?si=pJWVFO3Za3_mcHig

Sections

• Problem

• Objective

• Features

• WBS

• Value Proposition

• User Stories

• Multi Tenancy

• How to Make Your Robot

Robot Project

Problem

Allowing a machine to move in all directions has always been a challenge for humans.

Objective

To create a robot that can move in all directions.

Features

• Association

  Functional Requirements:

• Association via Code

Users can connect to a robot on their local network via a temporary code.

• Usage Requirements

  Functional Requirements:

• Local Control

Users can control the robot locally using a screen or by connecting a gamepad.

• Remote Control

Users can control the robot remotely through a computer or phone connected to the same network, with the gamepad connected to either the computer or phone.

Non-Functional Requirements:

• Broad Compatibility:

The system must recognize a wide range of devices to facilitate the use of the robot.

WBS

![Colorful Work Breakdown Structure](

Value Proposition

Simplify your work with MecanumPi

Precise and easy work

Simplify your tasks with MecanumPi, an automated robot with a web interface accessible from any device. Customize your tasks in the simplest way with precise and fast movements. Control your robot remotely in real time with 4 powered wheels that allow movement in all directions. Experience your work in real time with a high-quality wide-angle camera. Use your robot in the dark or in shadowy spaces with night vision.

Features

• Omnidirectional System
• High-resolution wide-angle camera
• Night Vision
• Remote control from multiple devices
• Precise system with real-time data

User Stories

Generic User

• As a generic user, I want to be able to connect to the robot via a code displayed on the screen.

Saved/Connected User

• As a saved/connected user, I want to view the robot’s web interface and use it properly.
• As a saved/connected user, I want to connect and disconnect from other robots on the network.

Local Control

• As a user connected via local control, I want to use my robot directly with input devices (gamepad, touchscreen) without the need for external devices (smartphone, PC, etc.).

Remote Control

• As a user connected via remote control, I want to use my robot from a distance and have an experience as close as possible to local control. Input devices connected to the robot (gamepad, touchscreen) should be optional compared to external devices (smartphone or PC).

Physical Space Visualization

• As a user connected via remote and/or local control, I want to see the physical space in front of the robot through a camera under any lighting condition (day or night).

Object Transport

• As a local user, I want to be able to transport appropriate objects using devices attached to the robot or external devices.

Staff

• As a “staff” user, I want to update and improve the code of produced robots by publishing new versions on this GitHub.

Multi Tenancy

Login / Register

• The user must physically go to the robot to add their device using a unique and random code.
• Each device is automatically authenticated if it has already been registered.
• Each device is removed after 7 days of inactivity with the robot.
• With each use, the list of robot interactions is updated.

Usage

• Each user has the ability to control the robot remotely, but if multiple users want to control the same robot, a request for control will be sent to the current user.
• Each user can view the robots available on the network and access them as described earlier.
• Each user can view the camera on the robot and visually track its usage.
• The user controlling the robot directly, rather than through another device, has primary control and can revoke control from other users.

How to Make Your Robot

Raspberry Pi Setup

• Take a micro SD card and install Raspberry Pi Bullseye (64bit).
• Insert it into your Raspberry Pi (model 4 recommended).
• Attach the Raspberry Pi to a touchscreen monitor (7-inch in my case).
• Install a webcam on the Raspberry Pi (I use the Raspberry Pi Camera Module 3 Noir-Wide).
• Connect the Raspberry Pi to a power bank (50W minimum recommended).
• L298N Motor Driver
• Download this repository.
• Download the node modules.
• Start the web server (host mode recommended).
• Start the backend Node.js server.
• Start the Python WebSocket and camera servers.
• Preferably, create services to start the servers automatically.

3D Models

• PowerBank

• PiCase

• Example:

  

Start-server

Install packages

for node npm install for python start them on your rpi with the camera connected and install the missing libraries.

Node

Start node server in backend folder with node filename.js.

Python

Start python servers in backend/pythonServers folder with python3 filename.py.

Svelte

Developing

Once you've created a project and installed dependencies with npm install (or pnpm install or yarn), start a development server:

npm run dev

# or start the server and open the app in a new browser tab
npm run dev -- --open

Building

To create a production version of your app:

npm run build

You can preview the production build with npm run preview.

Use -- --host --port 80 to host in all your private network.