Phoebe has got the PiCamera and the SRF02 Ultrasonic Range Finder installed on her underside; legs are back in place to achieve both camera focus and URF minimum range on the ground.
Camera’s working fine though the software is proving tricky for using the camera to do laser dot following or motion tracking MP4 encoding.
URF isn’t working; i2cdetect -y 1 sees the sensor, but a write to send an ultrasonic ping just blocks. There’s a couple of possible causes: the URF is running on 3.3V not the 5V as defined by the spec, and the I2C bus is running at 400kbps instead of the URF’s supported 100kbps.
I can’t drop the I2C baudrate – I have 1000 batches of 12 byte samples to read each second from the IMU FIFO and even ignoring the I2C overhead that requires 96kbps – not a cat in hell’s chance of running the IMU and the URF together at that baudrate.
The voltage is fixable with some 2-way level adjustors like these, but these are going to need a PCB rework.
Stuck again for the moment.
*much like a hedgehog