Before starting

You can setup the software for running your YetiBorg v2 either before or after you start assembly. These instructions assume you are running a recent copy of Raspbian, and they also assume you are using the pi user (the default for Raspbian). If you do not have your SD card setup yet you can find the downloads and instructions at http://www.raspberrypi.org/downloads. The instructions below will require the Raspberry Pi to be connected to the internet in order to download the required software. We recommend you use a Raspberry Pi Zero W with YetiBorg v2, but other models of Raspberry Pi should work fine as long as you can mount them to the YetiBorg v2 chassis securely. If you are using an older Pi Zero which does not have WiFi support you will need to use a USB WiFi dongle or Ethernet connector to connect your Pi Zero to your router. This is important because the software installation requires an internet connection to download all of the software to run correctly.

Setting up the Raspberry Pi

We recommend you setup SSH so you can login to the Raspberry Pi using either the WiFi or a network cable. This will allow you to configure your YetiBorg V2 using a laptop or computer rather than having to attach a monitor and keyboard. To setup SSH access:

1. Enter the following command in a terminal: sudo raspi-config
2. Move down to option 5 Interfacing Options and press ENTER
3. Move down to option P2 SSH and press ENTER
4. Make sure Yes is highlighted and press ENTER
5. Wait until the dialog says SSH is enabled, then press ENTER
6. Move right until Finish is highlighted, then press ENTER

You may also want to set your router to give the Raspberry Pi a known IP address (so you can login to it later). Consult you router manual if you wish to do this.

Installing the ZeroBorg and examples

YetiBorg v2 uses a ZeroBorg to drive the motors. We will connect the board later, for now we simply need to install the software to control it. You may need to enable I2C first, to do this:

1. Enter the following command in a terminal: sudo raspi-config
2. Move down to option 5 Interfacing Options and press ENTER
3. Move down to option P5 I2C and press ENTER
4. Make sure Yes is highlighted and press ENTER
5. When the dialog says I2C is enabled press ENTER
6. Move right until Finish is highlighted, then press ENTER

To run through the automatic installer just use this one line in a terminal:

bash <(curl https://www.piborg.org/installer/install-yetiborg-v2.txt)

If you would prefer to manually run through the steps use the commands below:

mkdir ~/zeroborg
cd ~/zeroborg
wget http://www.piborg.org/downloads/zeroborg/examples.zip
unzip examples.zip
chmod +x install.sh
./install.sh
mkdir ~/yetiborgv2
cd ~/yetiborgv2
wget http://www.piborg.org/downloads/yetiborgv2/examples.zip
unzip examples.zip
chmod +x install.sh
./install.sh

Once you have done this you will have two sets of examples:

1. ZeroBorg examples in ~/zeroborg The basic motor output example will have a link on the desktop
2. YetiBorg v2 examples in ~/yetiborgv2 This includes some standard examples such as remote control by a gamepad / joystick

Setting up joystick control (optional)

If you wish to use a gamepad / joystick to control YetiBorg v2 (such as a PS3 controller) you need the joystick software. You can get this by running the following command:

sudo apt-get -y install joystick

If you are using a PS3 controller it can be a little tricky to setup as you need to tell the controller to talk with the Raspberry Pi first. See either:

• How to connect a PS3 remote to the new Raspberry Pi Zero W if you are running a recent version of Raspbian with Pixel
• PlayStation 3 controller help sheet if you are using a terminal or older version of Raspbian

You can use the same instructions for a PS4 remote with the following changes:

1. Skip using sixpair, it is not needed
2. When trying to pair the controller press the PS and Share buttons at the same time to put the controller into pairing mode

Setting up the Raspberry Pi camera (optional)

If you want to use the Raspberry Pi camera you will also need to install some additional software libraries. Before setting up the software, turn the Raspberry Pi off and connect the camera to the Raspberry Pi. After powering the Raspberry Pi you want to enable the camera functionality:

1. Enter the following command in a terminal: sudo raspi-config
2. Move down to option 5 Interfacing Options and press ENTER
3. Move down to option P1 Camera and press ENTER
4. Make right until Yes is highlighted and press ENTER
5. When the dialog says the camera is enabled press ENTER
6. Move right until Finish is highlighted, then press ENTER
7. If asked if you would like to reboot, make sure Yes is highlighted, then press ENTER
8. Wait for the Raspberry Pi to restart

You can check the Raspberry Pi camera is attached and working by using the following command: raspistill -d If the camera is working you should see the image from the camera on the monitor for a few seconds. If it is not working or incorrectly connected you will get error messages instead. Next we want to install the Python library for talking to the camera:

sudo apt-get -y install python-picamera

Finally if we want to do image processing then we want the OpenCV libraries as well. This is needed for most examples which make use of the camera for doing their processing. The download is a bit larger and may take a while:

sudo apt-get -y install libcv-dev libopencv-dev python-opencv

Once you have assembled your YetiBorg v2 head over to the examples page to see what YetiBorg v2 can do and get started with your own projects :)