This is a collection of scrapts used to build a quick draft of an "exploration" rover. The rover can be outfitted with sensors read out through an arduino ADC. Downlink and uplink through a wifi router using ssh for drive, HTTP streaming for HAZCAM and HTTP post for data.

Parts:

• Raspberry Pi 4
• battery with 5 and 12V outputs
• rocker bogie frame with 6 wheels driven by geared brushed motors
• two output H bridge, one output drives three wheels on a side
• arduino board for sensor inputs
• usb camera "HAZCAM"
• dedicated wifi router with admin access
• data server running influx and grafana

Contents of this repo

• Drive code - latest is simpledrive2.py To drive, log in over ssh and execute.
• cam streaming, see hazcam.md
• Basic streaming Arduino digitizer