This is my bachelor's project. Its goal was to create self balancing robot and use ML to controll it.
For the best expirience use provided Makefile. It uses included Dockerfile to build container image for building the system image.
You can enter bash inside container by running:
make shell
To build whole image run:
make all
The artifacts should appear containing all the resulting packages built and the output sdcard image (artifacts/images/sdcard.img).
The first run will take significantly more time to finish that subsequent runs due to previosly unbuild packages. If you want to rebuild one module, you can run
make [ml/pid/motor_driver]
- br_external: # buildroot's external directory
- board:
- cmdline.txt # kernel start command
- config.txt # rpi's bootloader config
- genimage.cfg # output sdcard image structure, specifies files required by bootloader
- init.d/ # directory copied by post-build.sh script, copier over /etc/init.d in rpi image
- interfaces # debian interfaces file copied over /etc/network/interfaces
- overlays # device-tree overlays, compiled by post-build.sh script and copied into rpi-firmware directory
- post-build.sh # script triggered by buildroot after build. Defined in defconfig file
- post-image.sh # script triggered by buildroot after creating after creating system image, creates sd image
- sshd_config # filed copied over /etc/ssh/sshd_config file with ssh server config
- wpa_supplicant.conf # filed copied over /etc/wpa_supplicant.conf file with wifi config
- Config.in # buildroot config file, specifies Config.in files for packages
- configs:
- autobalancer_defconfig # buildroot's defconfig files, specifies which packes to build
- external.desc # decription of br-external project
- external.mk # file specifying buildroot's mk files for packages
- package:
- autobalancer:
- Config.in # general buildroot config file for both autobalancer versions
- autobalancer-ml:
- autobalancer-ml.mk # buildroot's mk file, defining how to build this package, points to ml src directory
- autobalancer-pid:
- autobalancer-pid.mk # buildroot's mk file, defining how to build this package, points to pid src directory
- motor-driver:
- Config.in # buildroot config file for motor-driver kernel module
- motor-driver.mk # buildroot's mk file, defining how to build this package, points to kernel module src
- src:
-ml/ # source directory of machine learning version of autobalancer
-motor-driver/ # source directory of motor driver's kernel module
-pid/ # source directory of machine learning version of autobalancer
- build-tensorflow.sh # script run in docker container to build tensorflow with correct toolchain
- circuit.png # diagram depicting phisical connection between rpi and other components
- Docerfile # file decribing build steps for docker container
- docker_makefile # makefile coppied into docker container, resposible for actual build commands
- Makefile # makefile starting and building docker container with proper bind mounts
- training:
- self_balancing_robot.py # training script for neural network used in the project
- model_diagram.png # diagram showing model architecture