Upgrade

Manual upgrade

ssh to your robot, make sure that the robot has access to the internet and run the following series of commands in the terminal:

config.txt

sudo sh -c 'printf "\ndtoverlay=pi3-miniuart-bt\nenable_uart=1\n" >> /boot/config.txt'

raspi-config

sudo raspi-config

• Select "Interfacing Options"
• Select "Serial Port"
• Select "No"
• Select "Yes"
• Select "OK"
• Finish and reboot

Dorna 2

sudo rm -rf /home/dorna/Downloads/upgrade && sudo mkdir /home/dorna/Downloads/upgrade && sudo git clone -b main https://github.com/dorna-robotics/upgrade.git /home/dorna/Downloads/upgrade && cd /home/dorna/Downloads/upgrade && sudo sh setup.sh dorna_2

Dorna 2S

sudo rm -rf /home/dorna/Downloads/upgrade && sudo mkdir /home/dorna/Downloads/upgrade && sudo git clone -b main https://github.com/dorna-robotics/upgrade.git /home/dorna/Downloads/upgrade && cd /home/dorna/Downloads/upgrade && sudo sh setup.sh dorna_2s

Dorna TA

sudo mkdir -p /home/dorna/Downloads && sudo rm -rf /home/dorna/Downloads/upgrade && sudo mkdir /home/dorna/Downloads/upgrade && sudo git clone -b dorna_ta https://github.com/dorna-robotics/upgrade.git /home/dorna/Downloads/upgrade && cd /home/dorna/Downloads/upgrade && sudo sh setup.sh dorna_ta

ngrok

Get the ARM version

cd /home/dorna/Downloads
#sudo wget https://bin.equinox.io/c/4VmDzA7iaHb/ngrok-stable-linux-arm.tgz
sudo wget https://bin.equinox.io/c/bNyj1mQVY4c/ngrok-v3-stable-linux-arm.tgz
sudo tar xvzf ~/Downloads/ngrok-stable-linux-arm.tgz -C /usr/local/bin
ngrok authtoken <your auth token>

SSH

ngrok tcp 22

Gives you a forwarding url like this tcp://4.tcp.ngrok.io:18764 You can then ssh to the controller by ssh [email protected] -p 18764

Once you ssh, you can use python to connect to the robot For example robot.connect()

HTTPS

You get the https address to access the robot