Well, the third milestone is in progress. It’s time for the most interesting part of the project - emotions and reflexes. Now, let’s talk about emotions, but in short. In my view and my understanding of what should be going on here, emotions - it is just the name of our mental state. We are going to have a set of such emotional states - to use those states as a simple indicator for our systems using my emotions implementation.

The startup system check is shown on an OLED display. The display has its separated i2c bus (I2C-3) to communicate with the Raspberry. The startup process is the following: Greeting Test I2C-1 devices: moving platform, sensor platform, and face module. If something is not represented on the bus, the error will be shown. Waiting while ssh service will be loaded Waiting while the network will be connected Waiting while roscore will be launched Infinite loop showing the network and project info.

There are a lot of issues when you connect low- and high-current devices to the same electrical circuit. Basically, you are getting: Noise at sensors’ output Freezes and resets of MCUs Artefacts on LCD and backlight’s flashing Other unexpected issues That’s really annoying that’s why I spend last several weeks thinking how to implement power supply for Zakhar. There are two things I want from this update: to avoid things mentioned above and to simplify development allowing me to work with every platform separately.

Updated code here: https://github.com/an-dr/zakhar_platform/pull/2