@Rongzhong Li You made me curious too. I assumed the sensors would interfere with each other, but they don't! I was surprised to see the cats read each other as objects, and react accordingly. Check it out: Ultrasound Tests I thought I'd see something interesting in the serial monitors, but they're like rocks to each other. Indeed, they seem to "see" each other better when the sensors are aligned. Now I'm curious as to why this is! Edit: after some research I’ve learned the sensors *can* interfere with each other if in sync. Apparently the timing on mine are sufficiently different. More cats/sensors will increase the chance for problems, but these two seem fine.

Did you disable the extra IR remote profiles? This has come up for others, and usually this is the case. Double check that section of the setup instructions.

@John Doe Make sure the serial port and baud rate in ardSerial.py match those defined in the bus.py file. If you’re able to send commands to the Nybble with ardSerial, the web api should work too. I’m using dev/serial0 and a baud rate of 57600 as I’ve Nyboard 0_2. Also: I‘ve learned Pi’s have different serial settings — the 3A works out of the box with Nybble, but the 3B needs some configuration.

This is great @Flavien Henrion — looking forward to the rest of your posts.

Mostly out of the box! I changed a few of the positions, but that was it. I also had to set up my Pi to use Python 3 before asyncio would work properly.

Here's my Nybble walking around my living room: https://www.petoi.com/forum/showcase/nybble-sees-the-world And here's the thread where @Gero helped me get everything running: https://www.petoi.com/forum/software/improve-gyro-delay-and-implement-ultrasonic-sensor-with-protothreading

Having come this far, I thought I'd share the finished product – I posted video of Nybble exploring my living room here: https://www.petoi.com/forum/showcase/nybble-sees-the-world

@Gero @Alex Young Solved! I ran the same code with a different SR04, and it works as expected. I'll solder up another LED and will be in business. Nybble can see! It's fascinating to follow along with the developments the community is making. Thanks again for the help.

@Alex Young @Gero Thanks both! I'm making progress, but am likely still missing something. Here's the where I've placed the code. In OpenCat.h, I've defined the following (and have switched my pins accordingly): // ultrasound testings #define ULTRA_SOUND #define ULTRA_VCC 8 #define TRIGGER 9 #define ECHO 10 #define LONGEST_DISTANCE 200 // 200 cm = 2 meters Then in OpanCat.ino, I'm calling this in setup: void setup() { PT_INIT(&ptUltra); PT_INIT(&ptBodyMotion); pinMode(BUZZER, OUTPUT); pinMode(ULTRA_VCC, OUTPUT); digitalWrite(ULTRA_VCC, HIGH); pinMode(TRIGGER, OUTPUT); // Sets the trigPin as an Output pinMode(ECHO, INPUT); // Sets the echoPin as an Input When I run this, I get consistent blue(!) light, and see values returned in the serial monitor(!). But those values hover don't change much as I move my hand in front of the sensor. I've used the SR04 in other projects – I usually see a lot more variance. Almost there!

@Gero Thanks for the immediate response. My connections are as follows: GND > GND ECHO > D8 TRIGGER > D9 VCC > D10 See photos – I see a happy blinking green light, but still only see 0.00 reported in serial monitor. I'm using the latest code pulled from your testing branch. Perhaps I'm missing something incredibly simple.

@Gero Thanks again Gero. I've double checked the pins, and have echo and trigger connected to D8 and D9 on Nyboard. To be certain, I tried connecting a spare ultrasonic sensor. Still, I'm only seeing 0.00 reported in the serial monitor. Perhaps my issue is with Writeinstinct.ino. When I try to verify it I see these errors: /Github/ger01d/OpenCat/WriteInstinct/WriteInstinct.ino: In function 'void setup()': WriteInstinct:262:13: error: 'T_REST' was not declared in this scope token = T_REST; ^~~~~~ But it does verify and upload as part of Opencat.h. 🤔 Thanks also for the asyncio tip – I saw that error even after installing via pip. Perhaps I'm using the wrong python directory on my Pi. I'll solve that problem once I get the sensor working with Nyboard. As ever, thanks for the help! I've been following your comments and tips in other threads as well.

@Gero Hello again! I'm able to run your test version of OpenCat. I included the protothreads library, and tweaked the code to reflect my NyBoard 0_2. Otherwise, I left it unchanged. When my Nybble starts, I see a blinking green LED, and notice your improved gaits when I use the remote. But certain positions (pu?) cause the cat to seize up, and the LED stops blinking for a moment. Checking the serial monitor reveals "0.00" repeating on each line – this makes me think the ultrasound isn't connected properly. When I attach my Raspberry Pi, I can send commands with ./ardSerial.py, but I see the same repeating lines of "0.00". Your original "random Nybble" python script works fine –until it lands on a position that makes it seize (I'll try to troubleshoot which ones). I tried to run your obstacle avoidance python script using the same serial port settings, but I receive this error when I do: pi@Nybble2:~ $ python nybble_run.py File "nybble_run.py", line 25 async def randomMovement(): ^ SyntaxError: invalid syntax When I run it as an executable, I receive this serial error pi@Nybble2:~ $ ./nybble_run.py ./nybble_run.py: line 1: import: command not found ./nybble_run.py: line 2: import: command not found ./nybble_run.py: line 3: import: command not found ./nybble_run.py: line 4: import: command not found from: can't read /var/mail/math ./nybble_run.py: line 9: syntax error near unexpected token `(' ./nybble_run.py: line 9: `ser = serial.Serial(' I've had trouble getting my serial ports straight, so I may be missing something quite simple. For now, I'll keep troubleshooting. Thanks for your help, and for sharing your work.

@Gero Thanks! This is the guidance I was looking for. I’m learning quite a bit on this journey, it’s fascinating. I‘ll give this a shot over the weekend and will share progress.

@Gero Where are you placing this code? I'd like to enable the ultrasonic sensor and implement the other python scripts you've developed (obstacle avoidance).

Just a note to acknowledge how incredible this is! Thanks for sharing the code – I'll definitely be following along.

Solved! I was confused on multiple fronts. 1: I'm using a Raspberry Pi 3A+, but was following guides for setting up ports on the 3B. This involved all sorts of port switching with config.txt that was unnecessary, and causing the script to fail. 2: I didn't realize the switch on NyBoard needs to remain on Ar even when sending commands with Pi over serial. This thread changed my life. 3: I was able to connect to the NyBoard, but only heard beeps – no movement on Nybble. As I'm using NyBoard 0_2, I changed the baud rate in ardSerial.py to 57600. And it worked! Phew! This took a few days of troubleshooting. 😅

Any thoughts on the serial port error above? I’m still troubleshooting it.

Also! I made the mistake of attempting to follow the instructions for setting up Pi for programming without the FTDI module – far more advanced than what I needed.

I've freshly calibrated my Nybble and it's working great with NyBoard. But when I flip the switch to Pi and attempt to use my 3A+ to use ardSerial.py, I get the following error: Traceback (most recent call last): File "./ardSerial.py", line 14, in timeout=1 File "/usr/lib/python2.7/dist-packages/serial/serialutil.py", line 240, in __init__ self.open() File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 268, in open raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg)) serial.serialutil.SerialException: [Errno 13] could not open port /dev/tty50: [Errno 13] Permission denied: '/dev/tty50' Serial login is disabled, and the port is enabled via raspi-config. If I run .ardSerial.py as sudo, I can see that it runs but the Nybble doesn't respond. Seems like I haven't configured the port properly – any advice? I'd love to get my Nybble working with the Python Web API!

Thanks Rz - I'm going to start over to see if I can pin down the problem on my own, and will report back with more detail (or success!).