Joy-it Talking-Pi User manual

3
Talking-Pi
Controlling the Robot-Arm

Ausgabe 09.02.2018 Copyright by Joy-IT 2
3Talking-Pi
Index
1. Introducon
2. Connecng the Robot-Arm
3. System Extension
4. Usage
5. Support

Ausgabe 09.02.2018 Copyright by Joy-IT 3
3Talking-Pi
1. Introduction
Dear customer,
Thank you for choosing our Talking-Pi product.
Our product is designed to be easily controlled and used with our roboc arm.
In this guide, we will show you how to congure your system for use and make the necessary sengs.
If, however, problems should occur while working with your talking pi, please feel free to contact us.
Current instrucons, projects and a community forum can also be found here:
Talking-Pi Website

Ausgabe 09.02.2018 Copyright by Joy-IT 4
3Talking-Pi
2. Connecting the Robot-Arm
The board of the Talking-Pi already has 6 connecons for the use of servomotors.
You can easily connect the servomotors required for the robot arm to these connecons.
Make sure that you set the jumpers, which are located directly next to the connectors, correctly.
In order to switch from GPIO operaon to the required servo operaon, the jumpers must connect the
middle and right pins with each other.
The servomotors of the robot arm should be connected according to the following numbering:

Ausgabe 09.02.2018 Copyright by Joy-IT 5
3Talking-Pi
3. System Extension
First make sure that I2C is already acvated on your system.
To use the servo modules, a special program library is addionally required.
This is based on the Adafruit_PCA9685 Python library, but is specially adapted to our board.
We strongly recommend that you only use our own custom library.
You can download the customized library here.
Please copy the unpacked library completely to your Raspberry Pi and navigate to this folder in the terminal.
Use the following command to install the library:
Next, please download the robot arm's script package for the talking pi from our download-archive,
unpack it and copy the extracted folder into the user directory (/home/pi) of your Raspberry Pis.
If you have not yet added your own voice commands to your Talking-Pi, you can also download the
googlecloudtalkingpi le and replace it in your system (/home/pi/voice-recognizer-raspi/src/) and
proceed to the next chapter.
However, if you have already added your own commands, please also perform the following step.
sudo python setup.py install

Ausgabe 09.02.2018 Copyright by Joy-IT 6
3Talking-Pi
First run the following command to open the googlecloudtalkingpi.py le:
Add the following phrases to the except phrases in the same way as you did with your self-added phrases:
The following command integraons are also added as you did with your own:
Save your changes with the key combinaon CTRL+O and close the editor with the combinaon CTRL+X.
sudo nano /home/pi/voice-recognizer-raspi/src/googlecloudtalkingpi.py
recognizer.expect_phrase('Dreh dich')
recognizer.expect_phrase('Streck dich')
recognizer.expect_phrase('Greif zu')
elif 'Dreh dich' in text:
subprocess.call(["python","/home/pi/Robot/robotRotate.py"])
subprocess.Popen(["aplay", "/home/pi/GassistPi/src/resources/dong.wav"],
stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
time.sleep(2)
elif 'Streck dich' in text:
subprocess.call(["python","/home/pi/Robot/robotStretch.py"])
subprocess.Popen(["aplay", "/home/pi/GassistPi/src/resources/dong.wav"],
stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
time.sleep(2)
elif 'Greif zu' in text:
subprocess.call(["python","/home/pi/Robot/robotGrab.py"])
subprocess.Popen(["aplay", "/home/pi/GassistPi/src/resources/dong.wav"],
stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
time.sleep(2)

Ausgabe 09.02.2018 Copyright by Joy-IT 7
3Talking-Pi
4. Usage
You have now successfully connected the robot arm to your Talking-Pi and extended the system with the
necessary funconalies. Now connect a suitable power source to the hollow plug connector on the
board of the Talking-Pis.
A power supply with a voltage of 4.8V - 6V and a maximum current of 6A is required as the current
source.
The robot arm is now fully operaonal.
You can now control it with the following voice commands:
 „Dreh dich“
 „Streck dich“
 „Greif zu“
These are just a few examples to show you the funconality and integraon of the robot arm.
Of course, you can easily integrate your own commands into the system.

Ausgabe 09.02.2018 Copyright by Joy-IT 8
3Talking-Pi
5. Support
We also support you aer your purchase.
If there are any quesons le or if you encounter any problems please feel free to contact us by mail,
phone or by our cket-supportsystem on our website.
E-Mail: [e-mail]
Ticket-System: hp://support.joy-it.net
Phone: [phone] – 66 (11- 18 Uhr)
Please visit our website for more informaons:
www.joy-it.net