Your Smart IOT

<div class="section tutorial-page">
<h2 id="introduction">Introduction</h2>
<p>If you’re familiar with <a href="http://ift.tt/nJVD8D" target="_blank">Lego Mindstorms</a>, then you are probably aware of all the cool <a href="http://ift.tt/1qCvqxT" target="_blank">projects</a> that you can make and the educational value of such an easy-to-use robotics platform. Enter the <a href="http://ift.tt/16h9Hz6" target="_blank">BrickPi</a>.</p>
<p><a href="http://ift.tt/1gVY44q" target="_blank"><img alt="BrickPi board" src="http://ift.tt/1gVY44q" /></a></p>
<p><em>Bare BrickPi board</em></p>
<p>The BrickPi is a <a href="http://ift.tt/XtPXBX" target="_blank">RasbperryPi</a> add-on that lets you control Lego Mindstorm parts. The BrickPi stacks on top of the <a href="http://ift.tt/1o7Ssv1" itemprop="url" target="_bank" title="Raspberry Pi"><strong>Raspberry Pi</strong></a> and accepts Lego Mindstorms motors and sensors.</p>
<p><a href="http://ift.tt/1U3bpw8" target="_blank"><img alt="BrickPi on a Raspberry Pi" src="http://ift.tt/1qCvqO8" /></a></p>
<p><em>BrickPi on top of a Raspberry Pi</em></p>
<p>The BrickPi allows you to control Mindstorms parts using any number of languages including <a href="http://ift.tt/kqslcH" target="_blank">C</a>, <a href="http://ift.tt/o158tb" target="_blank">Python</a>, and <a href="http://ift.tt/zJPPhx" target="_blank">Scratch</a>.</p>
<h3>Covered in This Tutorial</h3>
<p>In this tutorial, we will cover how to get started with the BrickPi. We will show you how to connect the BrickPi to a Raspberry Pi, attach Legos, connect motors/sensors, and write a simple <a href="http://ift.tt/1LK8jLD" itemprop="url" target="_bank" title="Python"><strong>Python</strong></a> script to control the motors/sensors.</p>
<h3>Required Materials</h3>
<ul>
<li><a href="http://ift.tt/1hBTMlv" target="_blank">BrickPi</a></li>
<li><a href="http://ift.tt/XtPXBX" target="_blank">Raspberry Pi</a></li>
<li><a href="http://ift.tt/S9n9iR" target="_blank">SD Card</a></li>
<li><a href="http://ift.tt/UrWBEO" target="_blank">Monitor</a> of some sort</li>
<li><a href="http://ift.tt/ZHTtKe" target="_blank">HDMI Cable</a> or Composite cable</li>
<li><a href="http://ift.tt/1f2dCU2" target="_blank">Wall Adapter Power Supply – 9VDC</a></li>
<li><a href="http://ift.tt/1H247iX" target="_blank">DC Barrel Jack Adapter – Female</a></li>
<li><a href="http://ift.tt/1oJenVw" target="_blank">9V Snap Connector</a></li>
<li>Keyboard and mouse</li>
<li><a href="http://ift.tt/1qCvqOc" target="_blank">Lego Mindstorms Servo Motor</a></li>
<li><a href="http://ift.tt/1ppKxcC" target="_blank">Lego Mindstroms Touch Sensor</a></li>
</ul>
<p><strong>NOTE:</strong> The servo motor and touch sensor can also be found within the <a href="http://ift.tt/1guqZAC" target="_blank">Lego Mindstorms NXT</a> set.</p>
<h3>Suggested Reading</h3>
<ul>
<li><a href="http://ift.tt/1g7aMzr" target="_blank">Setting up Raspbian</a></li>
</ul>
</div>
<div class="section tutorial-page">
<h2 id="configure-sd-card">Configure SD Card</h2>
<p><strong>IMPORTANT</strong>: You need to use <a href="http://ift.tt/1qCvqOd" target="_blank">Dexter Industries’ custom Raspbian build</a> to get the BrickPi to work.</p>
<h3>Required Downloads</h3>
<ul>
<li>Download <a href="http://ift.tt/1U3bpwg" target="_blank">Dexter Industries’ Raspbian build</a></li>
<li>Download <a href="http://ift.tt/16wtiJO" target="_blank">Win32DiskImager</a></li>
<li><a href="http://www.7-zip.org/" target="_blank">7-Zip</a> to unzip the .rar <a href="http://ift.tt/1LIxY7j" itemprop="url" target="_bank" title="Raspbian"><strong>Raspbian</strong></a> image</li>
</ul>
<h3>Flash the SD Card</h3>
<ol>
<li>Insert the SD Card into your computer</li>
<li>Install <a href="http://ift.tt/16wtiJO" target="_blank">Win32DiskImager</a></li>
<li>Unzip <a href="http://ift.tt/1U3bpwg" target="_blank">Dexter Industries’ Raspbian build</a> (use <a href="http://www.7-zip.org/" target="_blank">7-Zip</a> if the image is in .rar form)</li>
<li>Run Win32DiskImager with administrative privileges</li>
<li>Select the unzipped Dexter Industries’ <a href="http://ift.tt/1UhpgQn" itemprop="url" target="_bank" title="Raspbian"><strong>Raspbian</strong></a> build as the Image File</li>
<li>Select the location of the SD Card</li>
<li>Click “Write”</li>
</ol>
<p><a href="http://ift.tt/1U3bsbg" target="_blank"><img alt="Win32DiskImager flashing Dexter Industries' Raspbian build" src="http://ift.tt/1U3bsbg" /></a></p>
<p><em>Don’t forget to Run as Administrator!</em></p>
</div>
<div class="section tutorial-page">
<h2 id="brickpi-assembly">BrickPi Assembly</h2>
<p>You will need to build the hardware around the BrickPi in order to connect it to the Raspberry Pi and Legos.</p>
<h3>Build the Case</h3>
<p>1) Unpack the BrickPi hardware and remove the protective paper from the case.</p>
<p><a href="http://ift.tt/1qCvqOf" target="_blank"><img alt="BrickPi parts" src="http://ift.tt/1U3bpwk" /></a></p>
<p>2) Screw the two small standoffs into the holes in the bottom piece of acrylic.</p>
<p><a href="http://ift.tt/1qCvrSl" target="_blank"><img alt="BrickPi assembly" src="http://ift.tt/1U3bsbm" /></a></p>
<p>3) Screw a Raspberry Pi onto the two bottom standoffs.</p>
<p><a href="http://ift.tt/1qCvqOj" target="_blank"><img alt="Raspberry Pi in BrickPi case" src="http://ift.tt/1U3bsbo" /></a></p>
<p>4) Screw the four long standoffs into corner slots of the bottom piece of acrylic.</p>
<p><a href="http://ift.tt/1qCvqOl" target="_blank"><img alt="BrickPi assembly process" src="http://ift.tt/1U3bsbq" /></a></p>
<p>5) Attach the BrickPi to the Raspberry Pi by mating the BrickPi’s header to the <a href="http://ift.tt/OUFZBA" target="_blank">Raspberry Pi’s GPIO header</a>.</p>
<p><a href="http://ift.tt/1U3bsbu" target="_blank"><img alt="BrickPi mounted on Raspberry Pi" src="http://ift.tt/1qCvrSp" /></a></p>
<p>6) (Optional) Now is a good time to label the motor and sensor ports on the BrickPi. I recommend S1, S2, and so on for the sensor ports and MA, MB, and so on for the motor ports.</p>
<p><a href="http://ift.tt/1U3bsbw" target="_blank"><img alt="BrickPi with labels" src="http://ift.tt/1qCvqOr" /></a></p>
<p>7) Attach the top piece of acrylic to the four posts using the remaining screws.</p>
<p><a href="http://ift.tt/1U3bpw8" target="_blank"><img alt="Fully assembled BrickPi with Raspberry Pi" src="http://ift.tt/1qCvqO8" /></a></p>
<p>8) Insert the SD card.</p>
<p><a href="http://ift.tt/1U3bpMC" target="_blank"><img alt="SD Card in Raspberry Pi inside BrickPi case" src="http://ift.tt/1qCvrSt" /></a></p>
<h3>Attach Legos</h3>
<p>Lego beams can be attached to the top and bottom pieces of acrylic in order to secure the BrickPi and Raspberry Pi to your Lego creation.</p>
<p><a href="http://ift.tt/1U3bpME" target="_blank"><img alt="Lego pegs in BrickPi case" src="http://ift.tt/1qCvr4F" /></a></p>
<p><em>Attach Lego pegs to the holes in the acrylic</em></p>
<p><a href="http://ift.tt/1U3bpMG" target="_blank"><img alt="Lego beam on BrickPi case" src="http://ift.tt/1qCvr4H" /></a></p>
<p><em>Attach Lego beams to the pegs</em></p>
<p>Any of the Lego Mindstorms sensors can be attached to the ports labeled with an “S” followed by a number. You will need to remember the port number that you plugged your sensor into.</p>
<p><a href="http://ift.tt/1U3bsrN" target="_blank"><img alt="BrickPi Lego motor port locations" height="210" src="http://ift.tt/1qCvr4J" width="302" /></a></p>
<p><em>Sensor port locations (Image courtesy of <a href="http://ift.tt/q8xruv" target="_blank">dexterindustries.com</a>)</em></p>
<p>Motors can be attached to the ports labeled with an “M” followed by a letter.</p>
<p><a href="http://ift.tt/1qCvr4M" target="_blank"><img alt="BrickPi Lego sensor port locations" height="210" src="http://ift.tt/1U3bsrR" width="302" /></a></p>
<p><em>Motor port locations (Image courtesy of <a href="http://ift.tt/q8xruv" target="_blank">dexterindustries.com</a>)</em></p>
<p>For this example, connect a single touch sensor to S1 and a single servo motor to MA.</p>
<p><a href="http://ift.tt/1qCvr4O" target="_blank"><img alt="Sensor and motor connected to the BrickPi" src="http://ift.tt/1U3bsrT" /></a></p>
<h3>Connect Peripherals</h3>
<p>Similar to the <a href="http://ift.tt/1qCvs8N" target="_blank">setting up the Raspberry Pi tutorial</a>, we need to connect a <a href="http://ift.tt/1UQBgqN" itemprop="url" target="_bank" title="keyboard"><strong>keyboard</strong></a>, mouse, and monitor. Plug a <a href="http://ift.tt/1Uhpirf" itemprop="url" target="_bank" title="install virtual keyboard raspberry pi"><strong>keyboard</strong></a> and mouse into the USB ports, and connect a monitor using an HDMI cable.</p>
<p><a href="http://ift.tt/1U3bsrX" target="_blank"><img alt="BrickPi and Raspberry Pi with connected peripherals" src="http://ift.tt/1qCvqOk" /></a></p>
</div>
<div class="section tutorial-page">
<h2 id="powering-the-brickpi">Powering the BrickPi</h2>
<p><a href="http://ift.tt/q8xruv" target="_blank">Dexter Industries</a> recommends a few different ways to provide power to your Lego robot.</p>
<p><a href="http://ift.tt/1U3bss0" target="_blank"><img alt="Powering the BrickPi" src="http://ift.tt/1qCvs8P" /></a></p>
<p><em>Dexter Industries’ guide to powering the BrickPi (Image courtesy of <a href="http://ift.tt/q8xruv" target="_blank">dexterindustries.com</a>)</em></p>
<p>However, we will do things differently. In order to get unlimited run time and the ability to power a couple of motors, we will hack a wall power supply to attach to the BrickPi.</p>
<p>1) Cut the 9V battery connector off of the <a href="http://ift.tt/1oJenVw" target="_blank">9V Snap Connector</a> and strip the ends.</p>
<p><a href="http://ift.tt/1U3bsIg" target="_blank"><img alt="Hacked BrickPi 9V connector" src="http://ift.tt/1qCvr4S" /></a></p>
<p>2) Attach the red wire to the positive (+) and the black wire to the negative (-) screw terminals of the <a href="http://ift.tt/1H247iX" target="_blank">DC Barrel Jack Adapter</a>.</p>
<p><a href="http://ift.tt/1U3bq3a" target="_blank"><img alt="Attach 9V connector ends to DC Barrel Jack Adapter" src="http://ift.tt/1qCvr4U" /></a></p>
<p>3) Plug the connector into the BrickPi.</p>
<p><a href="http://ift.tt/1U3bsIl" target="_blank"><img alt="Hacked 9V adapter on BrickPi" src="http://ift.tt/1qCvs8R" /></a></p>
<p>4) Plug the <a href="http://ift.tt/1f2dCU2" target="_blank">9V wall adapter</a> into the other end of the DC Barrel Jack Adapter.</p>
<p>5) <strong>IMPORTANT:</strong> Make sure your monitor is connected to the Raspberry Pi and turned on!</p>
<p>6) Plug the wall adapter power supply into a wall outlet.</p>
<p><strong>WARNING:</strong> The large power regulator (<a href="http://ift.tt/1vzlbpl" target="_blank">TO-220 Package</a>) gets hot! Be careful when plugging or unplugging the power adapter.</p>
<p><a href="http://ift.tt/1qCvs8T" target="_blank"><img alt="Highlighted regulator on BrickPi" src="http://ift.tt/1U3bsIp" /></a></p>
<p>7) Your Raspberry Pi should come to life!</p>
<p><a href="http://ift.tt/1qCvs8V" target="_blank"><img alt="Dexter Industries' custom Raspbian build" src="http://ift.tt/1U3bq3j" /></a></p>
</div>
<div class="section tutorial-page">
<h2 id="configure-the-rasbperry-pi">Configure the Raspberry Pi</h2>
<p>Once the Raspberry Pi has booted, you should be presented with the Dexter Industries desktop. If you are ever asked for a username or password, the defaults are:</p>
<p>Username: <strong>pi</strong><br />
Password: <strong>raspberry</strong></p>
<p><a href="http://ift.tt/1qCvu0k" target="_blank"><img alt="BrickPi Desktop" src="http://ift.tt/1U3bq3l" /></a></p>
<p>If you would like to configure the Raspberry Pi, open up a terminal:</p>
<p><a href="http://ift.tt/1qCvs8X" target="_blank"><img alt="Raspberry Pi Terminal" src="http://ift.tt/1U3bsIx" /></a></p>
<p>and enter the following command:</p>
</div>
<div class="section tutorial-page">
<pre>
<code>sudo raspi-config
</code>
</pre>
<p>You will be presented with the Raspberry Pi configuration screen. It is recommended that you expand the filesystem. Have a look at the other options (descriptions for the various options can be found <a href="http://ift.tt/1qCvu0o" target="_blank">here</a>).</p>
<p><a href="http://ift.tt/1U3bq3n" target="_blank"><img alt="Raspberry Pi configuration" src="http://ift.tt/1qCvu0q" /></a></p>
</div>
<div class="section tutorial-page">
<h2 id="programming">Programming</h2>
<p>Open a terminal (if you do not already have one open) and create a new file for our motor and sensor test. Open that file with Leadpad (Raspbian’s default text editor).</p>
</div>
<pre>
<code>leafpad motor_sensor.py
</code>
</pre>
<p>Enter the following code into the text editor:</p>
<pre data-language="language:python ,python">
</pre>
<pre data-language="language:python ,python">
<code class="rainbow">from BrickPi <span class="keyword">import</span> <span class="keyword operator">*</span>

<span class="function call">BrickPiSetup</span>()

BrickPi.SensorType[PORT_1] <span class="keyword operator">=</span> TYPE_SENSOR_TOUCH
BrickPi.MotorEnable[PORT_A] <span class="keyword operator">=</span> <span class="constant numeric">1</span>

<span class="function call">BrickPiSetupSensors</span>()

<span class="keyword">while</span> True:
        result <span class="keyword operator">=</span> <span class="function call">BrickPiUpdateValues</span>()
        <span class="keyword">if</span> not result:
                <span class="keyword">if</span> BrickPi.Sensor[PORT_1]:
                        BrickPi.MotorSpeed[PORT_A] <span class="keyword operator">=</span> <span class="constant numeric">200</span>
                <span class="keyword">else</span>:
                        BrickPi.MotorSpeed[PORT_A] <span class="keyword operator">=</span> <span class="constant numeric">0</span>
        time.<span class="function call">sleep</span>(<span class="constant numeric">0.01</span>)
</code>
</pre>
<p><a href="http://ift.tt/1U3bq3p" target="_blank"><img alt="Raspberry Pi Leafpad with BrickPi Python code" src="http://ift.tt/1qCvu0s" /></a></p>
<p>Save and exit out of Leafpad. In the console, enter the following:</p>
<div class="section tutorial-page">
<pre>
<code>python motor_sensor.py
</code>
</pre>
<p>Now, whenever you press the Lego Touch Sensor, the Servo Motor should move!</p>
<p><a href="http://ift.tt/1U3bqjD" target="_blank"><img alt="BrickPi Python example working" src="http://ift.tt/1qCvu0u" /></a></p>
<p>Press ctrl+c to end the program.</p>
</div>
<div class="section tutorial-page">
<h2 id="resources-and-going-further">Resources and Going Further</h2>
<p>The BrickPi opens up many opportunities to expand on the Lego Mindstorms kit. To learn more about Dexter Industries and the BrickPi, check out their website: <a href="http://ift.tt/16h9Hz6" target="_blank">http://ift.tt/16h9Hz6</a>.</p>
<p>If you are looking for some ideas, Dexter Industries updates their BrickPi site with interesting projects: <a href="http://ift.tt/1U3bqjF" target="_blank">http://ift.tt/1U3bqjF</a></p>
<h3>Resources</h3>
<ul>
<li>BrickPi hardware GitHub repository: <a href="http://ift.tt/16h9KuJ" target="_blank">http://ift.tt/16h9KuJ</a></li>
<li>BrickPi Python GitHub repository: <a href="http://ift.tt/1U3bqjH" target="_blank">http://ift.tt/1U3bqjH</a></li>
<li>BrickPi C GitHub repository: <a href="http://ift.tt/1qCvs90" target="_blank">http://ift.tt/1qCvs90</a></li>
<li>BrickPi Scratch repository: <a href="http://ift.tt/1U3bsYN" target="_blank">http://ift.tt/1U3bsYN</a></li>
</ul>
</div>
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Getting Started with the BrickPi

Introduction If you’re familiar with Lego Mindstorms , then you are probably aware of all the cool projects that you can make and the edu...

Getting Started with the BrickPi

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