ZenBot-Pi

A Python package for controlling Arduino-based motor robots over I2C communication from a Raspberry Pi or other Linux SBCs.

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Features

• Simple control of DC motors connected to an Arduino
• I2C communication protocol for reliability
• Command-line interface for manual control
• Library for integration into your Python projects

Installation

From PyPI```bash

pip install zenbot-pi

### From Source

```bash
git clone https://github.com/yourusername/zenbot-pi.git
cd zenbot-pi
pip install -e .

Hardware Setup

1. Connect your Raspberry Pi/Orange Pi to Arduino via I2C:
   • Pi SDA → Arduino A4 (SDA)
   • Pi SCL → Arduino A5 (SCL)
   • Pi GND → Arduino GND

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Pinout Information

• Motor Control Pins:

  • enA (Pin 6): Enables motor A.
  • in1 (Pin 4): Controls the direction of motor A (input 1).
  • in2 (Pin 5): Controls the direction of motor A (input 2).
  • in3 (Pin 7): Controls the direction of motor B (input 1).
  • in4 (Pin 8): Controls the direction of motor B (input 2).
  • enB (Pin 9): Enables motor B.

• Buzzer and Button Pins:

  • buzzer (Pin A0): Used to produce sound feedback.
  • startButton (Pin 12): Button to stop the motors for safety.

• I2C Communication:

  • The Arduino uses the I2C address 0x08 for communication with the Raspberry Pi or other devices.

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2. Make sure the Arduino is running the provided sketch (see arduino_sketches directory) with I2C slave address set to 0x08.

3. Enable I2C on your Raspberry Pi:

   sudo raspi-config
   

   Navigate to Interfacing Options → I2C → Enable

   For Orange Pi, use sudo orangepi-config or appropriate method.

Using the CLI

The package provides a command-line interface:

# Run interactive control mode
zenbot-pi interactive

# Run test sequence
zenbot-pi test

# Send direct commands
zenbot-pi direct forward
zenbot-pi direct stop
zenbot-pi direct 5  # Set speed to 5

# Use different I2C bus or address
zenbot-pi --i2c-bus 1 --address 0x09 interactive

Using the Library

Basic usage example:

from zenbot import MotorController

# Create a controller, specifying I2C bus (default: 3) and address (default: 0x08)
controller = MotorController(i2c_bus=3, address=0x08)

# Test communication with Arduino
if controller.test_communication():
    # Set speed (0-9)
    controller.set_speed(5)
    
    # Move the robot
    controller.forward()
    
    # Wait a bit
    import time
    time.sleep(2)
    
    # Stop motors
    controller.stop()
    
    # Clean up when done
    controller.close()

Available Commands

• forward() - Move robot forward
• backward() - Move robot backward
• left() - Turn robot left
• right() - Turn robot right
• stop() - Stop all motors
• set_speed(level) - Set speed level (0-9)
• get_status() - Get system status
• send_command(cmd) - Send a raw command character
• close() - Close I2C connection

Arduino Setup

This library requires an Arduino running the provided sketch. The Arduino sketch:

1. Listens for commands on I2C bus (address 0x08 by default)
2. Controls motor driver shield/circuit based on received commands
3. Provides status feedback

Troubleshooting

• Check I2C connection with i2cdetect -y [bus_number]
• Ensure Arduino has the correct I2C address (0x08 by default)
• Verify power supply is adequate for motors
• Check log file zenbot.log for debugging information

License

MIT License - see LICENSE file for details

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.