BiggerTrak
==========

This is the source code that is used for my PiWars 2014 entry 'BiggerTrak'.
BiggerTrak was based around a Wild Thumper 6WD Chassis with the TRex Motor Controller
(Arduino based) connected to a Raspberry Pi Model A+ via I2C.

Remote control of the robot was done via a Sony PlayStation 3 DualShock controller, connected via BlueTooth 
to the Raspberry Pi.

Automated control of the robot was started, but currently it doesn't reliably drive in a straight line and still needs work.

Installation
============

Arduino
=======

 The 'BiggerTrak' Arduino program makes use of the AdaFruit NeopPixel library (https://github.com/adafruit/Adafruit_NeoPixel)
 and the PinChangeInt library (http://code.google.com/p/arduino-pinchangeint/). Once these libraries are installed the BiggerTrak 
 code can be compiled and uploaded to the Arduino on the TRex controller
 
 Note: This code makes use of the Arduino watchdog, which on the pre-supplied boot loader doesn't
       work correctly and cause the Ardunio to fail to soft reset.
       I resolved this issue by switching over to the Optiboot bootloader (https://code.google.com/p/optiboot/)
       

RaspberryPi
===========
 
 (Incomplete - Pre-requisits pygame (pre-installed), wiringpi 2 (https://github.com/Gadgetoid/WiringPi2-Python), bluetooth/sixad (Article in The MagPi magazine http://www.themagpi.com/issue/issue-27/))
 
 The RaspberryPi side of things is controlled using the 'BiggerTrak.py' python script which should be launched using 'sudo python BiggerTrak.py'
 
 
Controls
========

 Left Stick - Left motors
 Right Stick - Right motors
 
 Left - Set power limiter to default (75%)
 Right - Set power limiter to 100%
 Up - Increase power limiter by 5 (Max 100%)
 Down - Decrease power limited by 5 (Minimum default value)

 R1 - Increase position of servo (If fitted)
 R2 - Decrease position of servo (If fitted)