SunFounder PiCrawler Kit User manual

SunFounder PiCrawler Kit
www.sunfounder.com
Jan 06, 2023

CONTENTS
1 Component List and Assembly Instructions 3
2 About Robot HAT 5
3 Play with Python 7
3.1 Quick Guide on Python ......................................... 7
3.2 Calibrate the PiCrawler ......................................... 44
3.3 Move ................................................... 46
3.4 Keyboard Control ............................................ 49
3.5 Sound Effect ............................................... 50
3.6 Obstacle Avoidance ........................................... 53
3.7 Computer Vision ............................................. 56
3.8 Record Video ............................................... 62
3.9 Bull Fight ................................................. 64
3.10 Treasure Hunt .............................................. 67
3.11 Pose .................................................... 71
3.12 Adjust Posture .............................................. 74
3.13 Record New Step ............................................. 77
3.14 Twist ................................................... 80
3.15 Emotional Robot ............................................. 81
4 Play with Ezblock 85
4.1 Quick Guide on EzBlock ......................................... 85
4.2 Calibrate the PiCrawler ......................................... 88
4.3 Move ................................................... 92
4.4 Remote Control ............................................. 96
4.5 Sound Effect ............................................... 100
4.6 Obstacle Avoidance ........................................... 103
4.7 Computer Vision ............................................. 105
4.8 Bull Fight ................................................. 108
4.9 Treasure Hunt .............................................. 112
4.10 Pose .................................................... 115
4.11 Adjust Posture .............................................. 118
4.12 Record New Step ............................................. 122
4.13 Twist ................................................... 125
4.14 Emotional Robot ............................................. 127
5 Appendix 129
5.1 Filezilla Software ............................................. 129
5.2 About the Battery ............................................ 131
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5.3 Get the IP address ............................................ 132
6 Copyright Notice 133
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SunFounder PiCrawler Kit
Thank you for choosing our PiCrawler.
PiCrawler is a Raspberry Pi quadruped robot with aluminum alloy structure. It is equipped with a camera module,
which can perform color recognition, face detection and other items; 12 metal gear servos support it to walk, dance,
and pose various postures; the ultrasonic module on the body allows it to quickly detect obstacles in front of it;
the expansion board-robot HAT is equipped with a speaker, allowing it to express emotions such as happiness and
excitement.
This document includes the list and assembly pdf, Robot HAT introduction and PiCrawler programming.
The programming part is divided into two chapters: Play with Ezblock &Play with Python, each chapter allows you
to explain how to make PiCrawler work the way you want.
Ezblock Studio is a development platform developed by SunFounder for beginners, aiming to lower the barriers to
entry for Raspberry Pi. It has two programming languages: Graphical and Python, which can be used on almost
all different types of devices. With Bluetooth and Wi-Fi support, you can download codes on Ezblock Studio and
remotely control Raspberry Pi.
More experienced makers can use the popular programming language-Python.
Content
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SunFounder PiCrawler Kit
2 CONTENTS

CHAPTER
ONE
COMPONENT LIST AND ASSEMBLY INSTRUCTIONS
You need to check whether there are missing or damaged components according to the list first. If there are any
problems, please contact us and we will solve them as soon as possible.
Please follow the steps on the PDF to assemble.
If the servo has been powered on, please do not turn the Servo shaft to avoid damage.
Note:
1. Before assembling, you need to buy 2 18650 batteries and fully charge them, refer to About the Battery.
2. Robot HAT cannot charge the battery, so you need to buy a battery charger at the same time.
•Component List and Assembly Instructions.
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4 Chapter 1. Component List and Assembly Instructions

CHAPTER
TWO
ABOUT ROBOT HAT
Robot HAT is a multifunctional expansion board that allows Raspberry Pi to be quickly turned into a robot. An MCU
is on board to extend the PWM output and ADC input for the Raspberry Pi, as well as a motor driver chip, Bluetooth
module, I2S audio module and mono speaker. As well as the GPIOs that lead out of the Raspberry Pi itself.
It also comes with a Speaker, which can be used to play background music, sound effects and implement TTS functions
to make your project more interesting.
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Accepts 7-12V PH2.0 2pin power input with 2 power indicators. The board also has a user available LED and a button
for you to quickly test some effects.
Note: You can see more details in the Robot HAT Documentation.
6 Chapter 2. About Robot HAT

CHAPTER
THREE
PLAY WITH PYTHON
If you want to program in python, then you will need to learn some basic Python programming skills and basic
knowledge of Raspberry Pi, please configure the Raspberry Pi first according to Quick Guide on Python.
3.1 Quick Guide on Python
This section is to teach you how to install Raspberry Pi OS, configure wifi to Raspberry Pi, remote access to Raspberry
Pi to run the corresponding code.
If you are familiar with Raspberry Pi and can open the command line successfully, then you can skip the first 3 parts
and then complete the last part.
3.1.1 What Do We Need?
Required Components
Raspberry Pi
The Raspberry Pi is a low cost, credit-card sized computer that plugs into a computer monitor or TV, and uses a
standard keyboard and mouse. It is a capable little device that enables people of all ages to explore computing, and to
learn how to program in languages like Scratch and Python.
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Power Adapter
To connect to a power socket, the Raspberry Pi has a micro USB port (the same found on many mobile phones). You
will need a power supply which provides at least 2.5 amps.
Micro SD Card
Your Raspberry Pi needs an Micro SD card to store all its files and the Raspberry Pi OS. You will need a micro SD
card with a capacity of at least 8 GB
Optional Components
Screen
To view the desktop environment of Raspberry Pi, you need to use the screen that can be a TV screen or a computer
monitor. If the screen has built-in speakers, the Pi plays sounds via them.
Mouse & Keyboard
When you use a screen , a USB keyboard and a USB mouse are also needed.
HDMI
The Raspberry Pi has a HDMI output port that is compatible with the HDMI ports of most modern TV and computer
monitors. If your screen has only DVI or VGA ports, you will need to use the appropriate conversion line.
Case
You can put the Raspberry Pi in a case; by this means, you can protect your device.
Sound or Earphone
The Raspberry Pi is equipped with an audio port about 3.5 mm that can be used when your screen has no built-in
speakers or when there is no screen operation.
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3.1.2 Installing the OS
Required Components
Any Raspberry Pi 1 * Personal Computer
1 * Micro SD card
Step 1
Raspberry Pi have developed a graphical SD card writing tool that works on Mac OS, Ubuntu 18.04 and Windows,
and is the easiest option for most users as it will download the image and install it automatically to the SD card.
Visit the download page: https://www.raspberrypi.org/software/. Click on the link for the Raspberry Pi Imager that
matches your operating system, when the download finishes, click it to launch the installer.
Step 2
When you launch the installer, your operating system may try to block you from running it. For example, on Windows
I receive the following message:
If this pops up, click on More info and then Run anyway, then follow the instructions to install the Raspberry Pi
Imager.
Step 3
Insert your SD card into the computer or laptop SD card slot.
Step 4
Warning: Upgrading the Raspberry Pi OS to Debian Bullseye will cause some features to not work, so it is
recommended to continue using the Debian Buster version.
In the Raspberry Pi Imager, click CHOOSE OS -> Raspberry Pi OS(other).
3.1. Quick Guide on Python 9

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Scroll down to the end of the newly opened page and you will see Raspberry Pi OS(Legacy) and Raspberry Pi
OS Lite(Legacy), these are security updates for Debian Buster, the difference between them is with or without the
desktop. It is recommended to install Raspberry Pi OS(Legacy), the system with the desktop.
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Step 5
Select the SD card you are using.
Step 6
To open the advanced options page, click the setting button (appears after selecting operating system) or press
Ctrl+Shift+X. Enable ssh and set the username and name. You can choose to always use this image customization
options.
Note: When the Set hostname box is not checked, the default hostname will still be raspberrypi, and we will use
this hostname to access the Raspberry Pi remotely.
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SunFounder PiCrawler Kit
Then scroll down to complete the wifi configuration and click SAVE.
Note: wifi country should be set the two-letter ISO/IEC alpha2 code for the country in which you are using
your Raspberry Pi, please refer to the following link: https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2#Officially_
assigned_code_elements
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Step 7
Click the WRITE button.
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Step 8
If your SD card currently has any files on it, you may wish to back up these files first to prevent you from permanently
losing them. If there is no file to be backed up, click Yes.
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Step 9
After waiting for a period of time, the following window will appear to represent the completion of writing.
3.1. Quick Guide on Python 15

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3.1.3 Set up Your Raspberry Pi
If You Have a Screen
If you have a screen, it will be easy for you to operate on the Raspberry Pi.
Required Components
• Any Raspberry Pi
• 1 * Power Adapter
• 1 * Micro SD card
• 1 * Screen Power Adapter
• 1 * HDMI cable
• 1 * Screen
• 1 * Mouse
• 1 * Keyboard
1. Insert the SD card you’ve set up with Raspberry Pi OS into the micro SD card slot on the underside of your
Raspberry Pi.
2. Plug in the Mouse and Keyboard.
3. Connect the screen to Raspberry Pi’s HDMI port and make sure your screen is plugged into a wall socket and
switched on.
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