FsRover

Raspberry PI robot powered with FSharp

I made this small project to demonstrate that FSharp can be used for robotic and domotics projects.

Technologies used for software

• FSharp on linux
• Suave.io
• WebSharper
• libraspicamcv
• OpenCvInterop.fs is port of CvInvokeRaspiCamCV.cs in PiCamCV

Hardware

• Raspberry PI 3
• Power bank 12000 mah with 2 USB ports
• L298 Dual H-Bridge Motor Driver
• Camera module
• A chassis

Wiring

While waiting for the schemas (in progress), you can see photographies here

GPIO

Pins

• Pin1: GPIO26
• Pin2: GPIO19
• Pin3: GPIO13
• Pin4: GPIO6

Physical actions

• Forward: Pin1 and Pin3
• Backward: Pin2 and Pin4
• Left: Pin2 and Pin3
• Right: Pin1 and Pin4

Self hosted web site

Run on your RPI

• Build locally with build.bat
• Upload release folder up to your RPI
• Run sudo mono FsRover.Web.exe