roverbot: Rover5 Chassis, Raspberry Pi B+, C programming with pthread pigpio libs.

My first robot using Rover5 - roverbot!

Objective: Night timeshift photography... Analyzing plants, photo capturing for 3D modeling.. WIP

Components used:

• Rover5 Chassis - 4 Motors, 4 Encoders feedback. 
• Rover5 Track wheels 
• 6 x Sony rechargeable AA 2200mAh batteries. 
• Dagu 4 Channel DC Motor Controller with Encoder Support 
• Pan and Tilt kit with 2 Servo9G Motors 
• UltraSonic Distance Sensor (HC-SR04) 
• Raspberry Pi B+ 
• 802.11n USB Wifi Dongle Adapter 
• Hewlett Packard Power pack 5v, 2A - 7500mAh (F4C88A)  
• DVK512 - Raspberry Pi Model B+ Expansion/Evaluation Board, features various interfaces 
•  - for LED's, Buttons, RTC 
• 5MP NoIR Camera for Raspberry Pi 
• Jumper Wires, mini Bread board & Custom plastic plate cover for Chassis 

Programming: c pthreads, on raspbian

This is my first robot, built using above mentioned components, in short Rover5 muscles, Raspberry Pi B+ Heart and C Brain!.
At present its just a obstacle avoiding with video streaming - Autonomous and Manual.
Under manual Rover Speed, Directions And Pan, Tilt controlled by remote terminal (pigpio libs & ncurses dashboard)
using Rpi_Cam For Video streaming, More info: http://elinux.org/RPi-Cam-Web-Interface
I will be uploading source code, videos and photos very soon ...

Working on: understanding encoder feedback & customizing circuit for Raspberry pi,
Let me know if any one needs more information, Suggestion and Critics most welcome.

Thanks 
Mahesh S Rao ([email protected])