(We originally used a C.H.I.P. single board computer, so you may see remnants of that in the codebase...)

Both are tracked robots based on the OSEPP TANK-01 (https://www.digikey.com/en/products/detail/osepp-electronics-ltd/TANK-01/11198516).

This is a (mostly) Python codebase to get various things going with -- like a 16-channel I2C PWM controller board, Ultrasonic Range Sensors, LIDAR, IR, Laser range finders and more.

REQUIREMENTS -

 sudo pip install httpserver
 sudo apt-get install python3-numpy python3-matplotlib

 cd ~/potatoCHIP

 ./fixLidarOffset

 touch /dev/shm/lidar.png
 ln -s /dev/shm/lidar.png ./lidar.png

 touch /dev/shm/lidar.csv
 ln -s /dev/shm/lidar.csv ./lidar.csv

SEE "motd" FILE FOR STARTUP INSTRUCTIONS!

TO-DOs:

1. DON'T ground motor GND-OUT to PWM power-gnd-in!
2. Add left/right/fwd/back buttons to website
3. Reload "MyPins.py" every time a "START" command is issued
4. Modify plotLidar.py to DYNAMICALLY determine sensor coverages (for now it's hard-coded)
5. Speed up getLidar (by eliminating it, perhaps, and add generation of "lidar.csv" to "ultra_simple")
6. Modify obstacle-avoidance logic to be "turn, sense, go -or- turn-some-more" rather than just blindly turning "x" degrees