bluerobotics-navigator 0.0.4

This package serves as the entry point for embedded applications using Python on Blue Robotics's Navigator

Navigator Library

This library serves as the entry point for applications that want to use Navigator with Python or C++.

1 . How-to setup the Raspberry Pi computer, please read Instructions. 2 . For Rust 🦀, please check the navigator-rs library.

Features

• LEDs (User and RGB) access
• PWM (Pulse Width Modulation) control
• ADC (Analog Digital Converter) reading
• Magnetometer / Accelerometer / Gyroscope sampling
• Temperature reading
• Pressure estimation

📖 Documentation:

• Python
• C++ (WIP)

Check the examples folder for further information and guide.

🐍 Python:

Install the library.

pip install bluerobotics_navigator

With that, you'll bee able to run the examples, or creating your own:

#!/usr/bin/env python

import bluerobotics_navigator as navigator

print("Initializing navigator module.")
navigator.init()

print("Setting led on!")
navigator.set_led(navigator.UserLed.Led1, True)

print(f"Temperature: {navigator.read_temp()}")
print(f"Pressure: {navigator.read_pressure()}")

print(
    f"Data ADC Channels: {navigator.read_adc_all().channel}"
)

print(f"Data ADC Channel: 1 = {navigator.read_adc(navigator.AdcChannel.Ch1)}")

data = navigator.read_mag()
print(f"Magnetic field: X = {data.x}, Y = {data.y}, Z = {data.z}")

🛠️ C++:

Follow our example folder as a template to create your own project. To compile and run the examples, you can run:

cd examples/cpp
cmake -B build -DCMAKE_BUILD_TYPE=Debug && cmake --build build --config Debug --parallel
# Run one of the examples
./build/simple
./build/rainbow

For an example of C++ code, you can check the following code:

#include "bindings.h"
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>

int main() {
  printf("Initiating navigator module.\n");
  init();

  printf("Setting led on!\n");
  set_led(UserLed::Led1, true);

  printf("Temperature: %f\n", read_temp());
  printf("Pressure: %f\n", read_pressure());

  ADCData adc = read_adc_all();
  printf("Reading ADC Channels: 1 = %f, 2 = %f, 3 = %f, 4 = %f\n",
         adc.channel[0], adc.channel[1], adc.channel[2], adc.channel[3]);
  printf("Data ADC Channels: 1 = %f\n", read_adc(AdcChannel::Ch1));

  AxisData mag = read_mag();
  printf("Magnetic field: X = %f, Y = %f, Z = %f\n", mag.x, mag.y, mag.z);

  return 0;
}

Note: The CMakeLists_Standalone.txt is a self-contained CMake project file example. Users can use it as a template to create their standalone projects based on the navigator-lib.

🏗️ Supported Architectures

Currently, the library supports armv7 and aarch64 architectures, which are the official defaults for BlueOS. The library also provides C++ .so files for both gnu and musl.

For more detailed information, including installation instructions, schematics, and hardware specifications, please refer to the navigator hardware setup guide.

:ocean: Instructions for BlueOS (Recommended)

1. Open the Autopilot Firmware page, enable Pirate Mode, and "change board" to SITL
   • This stops the autopilot firmware from trying to operate while the WebAssistant is in use
2. Reboot the vehicle computer, and wait for the interface to re-connect

Note: Since this library access the Navigator hardware, it can´t run in parallel with ArduPilot. If you are running ArduPilot, be sure to disable it or set the board as SITL (Software Simulation) before running Navigator WebAssistant

:cherries: Instructions for Raspberry Pi OS

1. Download the Raspberry OS image (32 or 64 bits)

Note: To use a kernel that matches with the BlueOS and avoid incompatilities, please use: 32 Bits: raspios_lite_armhf-2023-02-22 64 Bits: raspios_lite_arm64-2023-02-22

2. Install the Raspberry Pi Imager and flash the image

Note: You can also automatically setup the ssh, user, hostname and wi-fi settings.

3. Execute the following command to setup the overlay required for Navigator ( I2C, SPI, GPIOs & others)

sudo su -c 'curl -fsSL https://raw.githubusercontent.com/bluerobotics/blueos-docker/master/install/boards/configure_board.sh | bash'
sudo reboot