GoPiGo3 Setup1 *** Download Raspian For Robots https://sourceforge.net/projects/dexterindustriesraspbianflavor/files/latest/download *** Flash SD card with Etcher Select the Raspian For Robots zip file Select the 16GB SD Card Flash === Mount the card to allow headless configuration - Pull card out, reinsert for next steps === Enable SSH - create file called "ssh" (or ssh.txt) in the Boot partition === Setup WiFi Headless - create the file wpa_supplicant.conf (quote chars must be straight up/down, traditional, not slanted/matched Unicode chars use ssid="XXXX" country=US ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev update_config=1 network={ ssid="XXXX" psk="XXXX" key_mgmt=WPA-PSK } === disable ipv6 Browse the disk (boot) Rt Click on System Volume Information->Open Terminal Here cd .. cp /boot/cmdline.txt /boot/cmdline.txt.bak nano cmdline.txt add to end of line/file: ipv6.disable=1 save, exit editor - eject disk ==== Raspbian First Boot -insert micro SD card -power on - on mac: arp -a to check IP === First Login ssh pi@10.0.0.XX The default login for Raspbian is username pi with the password raspberry. === is see SSH HOST KEY verification failed on mac: ssh-keygen -R 10.0.0.XX Login: username: pi password: robots1234 === Configure for locale, timezone, and expand filesystem to fill card $ sudo raspi-config (You can exit menus by using Tab key, move to Finish, enter key) change password to XXXXX Network Options: change hostname to XXXX change Localisation:Locale -> remove en_GB, add en_US.UTF8 default local: en_US.UTF-8 change Localisation:Timezone-> US->Eastern change Localisation:WiFi Country->US Interfacing:PiCamera enable reboot now yes === LOG IN Again pi:XXXXXX === Change TightVNC password ==== at a terminal: vncpasswd n (do not set up a view only "no password" login) === update now sudo apt-get update sudo apt-get full-upgrade ==== Check TEMPERATURE To view the Pi's temperature vcgencmd measure_temp It's generally a good idea to keep the core temperature below 70 degrees === info about processor, memory, disk partitions === cat /proc/cpuinfo cat /proc/meminfo cat /proc/partitions cat /proc/version Stretch kernal: Linux version 4.9.41-v7+ free -h displays memory usage total used free shared buff/cache available Mem: 875M 69M 540M 11M 266M 745M Swap: 99M 0B 99M === check memory usage program htop q to exit Record the ipV4 addresses: wired: wifi: GoPiGo3 : 10.0.0.XXX =====GETTING WIFI NETWORK DETAILS To scan for WiFi networks, use the command iwlist scan | less === check time zone $ date to check if correct time ========= SSH from mac to Pi ===== (SSH enabled in raspi-config) ssh -l pi 10.0.0.xxx (wireless) or ssh pi@10.0.0.xxx password: robots1234 (changed to XXXX) ===== rebooting ==== sudo shutdown -r now (or sudo reboot) (if doesn’t come back up try sudo shutdown -t9 -r now or (sync;sync;sudo reboot -d -f -i) ==== check disk file systems ===== df -h Filesystem Size Used Avail Use% Mounted on /dev/root 15G 4.2G 9.9G 30% / devtmpfs 434M 0 434M 0% /dev tmpfs 438M 0 438M 0% /dev/shm tmpfs 438M 12M 427M 3% /run tmpfs 5.0M 4.0K 5.0M 1% /run/lock tmpfs 438M 0 438M 0% /sys/fs/cgroup /dev/mmcblk0p1 42M 21M 21M 51% /boot tmpfs 88M 0 88M 0% /run/user/1000 ==== disk space of a directory: $ du -hD === install disk monitor tool sudo apt-get install dstat dstat -cd --disk-util --disk-tps sudo apt-get install iotop sudo iotop -o ?? === install atop (may waste CPU cycles if not needed ) sudo apt-get install atop atop 5 (every 5 seconds) sudo apt-get install iostat ?? may be already installed ?? sudo iostat -d 5 glances --enable-process-extended ===== update and upgrade === $ sudo apt-get update or sudo apt-get sudo apt-get -o Acquire::ForceIPv4=true upgrade $ sudo apt-get upgrade ===== Fix pip ? $sudo pip install --upgrade requests ===== test internet speed ==== $ sudo pip install speedtest-cli $ speedtest Speedtest Result 2018Aug22: 81.1 Mbps Download, 10.5Mbps Up 36ms ping 2016Apr29: 29.5 Mbps Download, 11.0Mbps Up 38ms ping 2015Jan25: 19.3 Mbps Download, 5.5 Mbps Up 40ms ping ===== describe hardware ===== sudo apt-get install lshw sudo lshw === check memory === sudo lshw ... *-memory description: System memory physical id: 4 size: 862MiB or $ free -h total used free shared buffers cached Mem: 862M 232M 630M 5.9M 14M 177M Swap: 99M 0B 99M ====== Testing Disk speed ===== sudo hdparm -t /dev/mmcblk0 (sudo apt-get install hdparm) reports Pi3: 62 MB in 3.06s = 20.27 MB/sec pi B+: 54 MB in 3s = 17.7 MB/s ======= check OS version ====== cat /etc/os-release PRETTY_NAME="Raspbian GNU/Linux 9 (stretch)" NAME="Raspbian GNU/Linux" VERSION_ID="9" VERSION="9 (stretch)" ID=raspbian ID_LIKE=debian HOME_URL="http://www.raspbian.org/" SUPPORT_URL="http://www.raspbian.org/RaspbianForums" BUG_REPORT_URL="http://www.raspbian.org/RaspbianBugs" ==== check Pi firmware version vcgencmd version uname -a ==== SHUTTING DOWN Pi ====== sudo poweroff ( or shutdown -h now ) Safe to remove power when green light blinks a bunch (12 times) and then stops blinking === Update GoPiGo3 software to latest: curl -kL dexterindustries.com/update_gopigo3 | bash === Update DI Sensors curl -kL dexterindustries.com/update_sensors | bash === Test audio aplay /usr/share/sounds/alsa/* if no audio: amixer to see what is current setting: (0=auto, 1=analog, 2=HDMI) sudo amixer cset numid=3 1 (set to output sound to 3.5mm jack try again: aplay /usr/share/sounds/alsa/* ========== If audio output is too soft ======= if soft: alsamixer s (select card) downarrow to “0 bcm2835 ALSA” 8 (4=default loudness, 8=100%, 9=125%) Escape (press Esc) then make setting default: sudo alsactl store 0 ==== espeak is already installed in Raspbian for Robots === Configure Desktop to play .wav files connect via remote desktop right click Text.wav icon --> Open With ... Select Custom Command Line tab enter Command line to execute: aplay enter Application name: aplay check Set selected application as default action for this file type Click OK With speaker on, double click Text.wav to hear "Hello from your bot" ====== Raspian4Robots WiFi Indicator ==== When in Raspbian or Raspbian for Robots, once the GoPiGo3 is connected to a WiFi access point, the antenna LED will be a pale yellow, very different from the green and blue for DexterOS. This gives the user a nice feedback that the robot is connected to Wifi and removes the guessing game. This means a new service is installed: antenna_wifi.service which runs every 10 seconds, for less than 0.2 sec on average. A user can always choose to disable this service with the standard sudo systemctl disable antenna_wifi.service === exiftool to view EXIF data on jpg files === sudo apt-get install exiftool