https://github.com/canop/picomobile
The software matching the article at https://dystroy.org/blog/pico-mobile
https://github.com/canop/picomobile
Last synced: 21 days ago
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The software matching the article at https://dystroy.org/blog/pico-mobile
- Host: GitHub
- URL: https://github.com/canop/picomobile
- Owner: Canop
- Created: 2026-06-16T13:23:57.000Z (about 1 month ago)
- Default Branch: main
- Last Pushed: 2026-06-29T13:34:27.000Z (25 days ago)
- Last Synced: 2026-06-29T15:18:17.624Z (25 days ago)
- Language: Rust
- Size: 1.7 MB
- Stars: 2
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
This repository contains the code of the Pico-Mobile as described in [https://dystroy.org/blog/picomobile](https://dystroy.org/blog/picomobile)
**Warning:** I'm still experimenting with the hardware in the FPV configuration, currently trying to improve the power setup (the servo isn't always receiving enough power right now so I'm trying with a buck converter instead of the MB102). The software part isn't expected to change though. It works for both the first Picomobile described in the article (without arducam) and the new one whose hardware setup isn't yet published.
# Material
- Raspberry Pico WH
- breadboard
- cable USB data de Raspberry
- resistor 220 Ohm
- diode
- jumper cables
- Mini module Camera Arducam Shield OV2640 2MP Plus
- MB102 based alimentation module
# Hardware Setup
- Pico WH mounted on the Kitronik 5331
- resistance and diode (longer arm first) connected from Kitronik's GP27 to its GND
- Pico <-> Kitronik: GP2, GP3, GP6, GP7, GND
- Alimentation module receiving power from Lego batteries and powering the Pico (only) in 5V
## Arducam <-> Pico wiring
Arducam (left to right) | Pico | Purpose
------------------------|-----------------|----------------------
CS | GP17 (SPIO CSn) | SPI chip select
MOSI | GP19 (SPIO TX) | SPI Data - master output slave input
MISO | GP16 (SPIO RX) | SPI Data - master input slave output
SCK (SCLK) | GP18 (SPIO SCK) | SPI clock
GND | GND | power ground
VCC | 3V3 out | powers the Arducam
SDA | GP20 (I2C0 SDA) | configuration
SCL | GP21 (I2C0 SCL) | I2C clock
+--USB--+
| |
| |
| | (36) 3V3 Out <---- [ Arducam VCC ]
| |
| |
| |
| | (28) GND
| | (27) GP21 [I2C0 SCL] <---- [ Arducam SCL ]
| Pico | (26) GP20 [I2C0 SDA] <---- [ Arducam SDA ]
| | (25) GP19 [SPI0 TX] <---- [ Arducam MOSI ]
| | (24) GP18 [SPI0 SCK] <---- [ Arducam SCLK ]
| | (23) GND
| | (22) GP17 [SPI0 CSn] <---- [ Arducam CS ]
| | (21) GP16 [SPI0 RX] <---- [ Arducam MISO ]
+-------+
# Software setup
- cargo+rustup
- `brew install picotool`
- `brew install tio`
- `cargo install flip-link`
Embassy project in ../../embassy, on commit 46288501e (unfortunately, I couldn't use the version released on crates.io)
WIFI_SSID and WIFI_PASSWORD env vars must be set for compilation, for example in env.sh
# Connect the Pico on first installation or crash
With USB cable connecting Mac to Pico:
1. Push (and keep pressed) the BootSel button on the Pico
2. Push and release the push button
3. Release the BootSel button
The Pico should be mounted as RPI-RP2 on the mac and be ready to receive the program.
# Instructions
`cargo run` should build and install (and thus launch) the program
To see the log, run `tio -l` to see the name of the flow, then `tio `
On launching, the Pico registers and dumps its IP:
waiting for DHCP...
IPv4: UP
IP address: Cidr { address: 192.168.1.24, prefix_len: 24 }
Default gateway: Some(192.168.1.1)
Stack is up!
Listening on TCP:1234...
Connect with `nc`, eg `nc 192.168.1.24 1234` and send commands finished by enter
Commands:
* blink n times, eg `b 5`
* run the Lego motor n milliseconds, eg `g 150` or `g -2000`
* toggle the led: `led`
* reset the Pico (for another install) with `q`
To kill tio, do `ctrl-T Q`.
It's possible to disconnect the USB cable and put the Lego power pack to ON.
After a few seconds for the WIFI to connect (there's no log as it goes through USB), you can command the Pico with `nc` and make it blink.
# Reset the Pico for new installation
Using `nc` send the command `q` (or `quit`).
After handling this command the Pico should be mounted as RPI-RP2 on the mac and be ready to receive the program.
# picomobile-gui
The picomobile-gui program launches a serve which allows web-based control of the Pico:
- driving the car with the keyboard's arrow keys
- doing a reset (same than using netcat to send `q`)
- viewing the camera image flow