Pogo - RugWarriorPro With New Raspberry Pi 3 Brain

Pogo first sprang and sang “To Life” in my home in 2000, from a Rug Warrior Pro robot kit offered by AK Peters, Ltd.  His original brain was a 2 MegaHz Motorola 68HC11 with 32K bytes of "non-volitile" RAM.

In 2015, at the age of 15, Pogo underwent a total brain transplant receiving a Raspberry Pi B+, and a year later, underwent a follow-up surgical upgrade to the 1.2 GigaHz, four-core, Raspberry Pi 3 with 1GB of RAM (60-100 times the processing power with 30 thousand times more RAM than the original Rug Warrior Pro 68HC11 brain.)

Pogo from the ground up:

•  RugWarriorPro "Brawns": 
  •  Du-Bro 2.5" Dia. captive-air soft rubber tires
  • Autotrol 6v DC Geared Down Motor
  • 4 C-Cell, and 2 C-Cell, Battery Holders
  • 6" round non-conducting chassis
  • Delron rolling ball “third wheel”/skid
  • Full Skirt with six direction bump detection
  • Added: Pololu 5V Step-Up/Step-Down Voltage Regulator S18V20F5
  • Six 5000mAh C-Cells
• Raspberry Pi 3 - 1.2GHz Four-core Processor w/1GB RAM
• Brawns to PiDA Connection Card
• Mikronauts Pi Droid Alpha Robotics Digital and Analog Interface
  • MCP3208 10-bit ADC
  • MCP23S17 16 channel Digital I/O Expansion (with Interrupt Line tied to RPi GPIO pin 19)
  • LM293D Dual H-Bridge Motor Driver 
  • Separate Motor Power Path (unregulated 7.2v)
  • Separate Servo Power Path (4.8v Four cell tap off battery)
  • SPI interface to RPi
  • 2:1 voltage divider from 7.2v battery to ADC for 2 mv precision
• Top Layer Card (Mikronauts PiJumper)
  • Pololu SP Power Switch
  • ACS712 Current Sensor
  • Tilt-Pan Sensor Platform
    • Twin SG90 Servos
    • HC-SR04 Ultrasonic Ranging Sensor
  • Rechargeable, wired, amplified speaker
• Sharp GP2Y0A60 Infrared Distance Sensor
  • 10-150cm / 4 inches-5 feet Ranging
  • Facing 90 deg left for wall following 
  • Non-linear analog voltage output
• PiCam 
  • Mounted at top of skirt facing forward
• Software:
  • Hardware Interface Library in Python
    

Demonstrations and Test Code:

• Sphinx Speech Recognition
• Festival Text-To-Speech
• Class (with test main) for each sensor
• Class (with test main) for motors
• GoPiGo Python Function API (Partial)
• RugWarriorPro Function API (Partial)
• Battery_Life Measurement and Estimation
• 180 degree Ultrasonic Distance Map to console window

2017: After another SD card went to read-only, and finding the built-in WiFi of my Pi3 board had gone flackey, I managed to bring it to life on the latest Raspbian Stretch, somewhat.  Here is my Raspberrry Pi3 upgraded Rug Warrior Pro robot running egret.py ("think alot, act a little"):

https://www.youtube.com/watch?v=X1hrGEDxV8w