NXTpi - a lifelong learning journey

On a first outing

Branches available

ExoMy = my own version of ESA ExoMy Rover (extended hardware)

ExoMyAddition-Pilot = "Plug-in" addition to facilitate text-based piloting of ExoMy (standard ESA hardware model)

My own mission

How to inject new life into a LEGO robot built on NXT-brick basis, by upgrading its control and communication with a Rasberry Pi as companion. Benefits:

• simplicity and flexibility of mechanical construction offered by LEGO components for easy prototyping
• the power of LeJos in controlling motion of a proven basic mobile platform
• adding the processing power of a Raspberry Pi to add modern sensors, communication and multi-tasking possibilities
• exploiting availability of powerful Python libraries on a Raspberry Pi
• allowing long-range two-way communication with mobile platform via WiFi intranet from a GUI on a laptop
• ... and in the process learn what such frameworks as ROS are all about!

Toolbox and components used

Hardware

• NXT-brick with std sensors
• Mindsensor CMPS-Nx, NXTCam
• Raspberry Pi with MakerHawk UPS, Bluetooth and wifi dongle

active robot platform: ExoMy Rover (see https://github.com/esa-prl/ExoMy)

• Raspberry Pi 4 (control with ROS melodic in docker container)
• NXT brick with CMPS-Nx, Ultrasound sensor (connected via Bluetooth to Pi using roslibpy to connect to ROS container)

Software

• LeJos
• Java8 and later
• Python3
• ROS