Building a Raspberry Pi Robot Arm with .NET 5, Blazor and SignalR - HackSoc - 26th October 2021
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This document provides an overview of building a robot arm using a Raspberry Pi, .NET 5, Blazor, and SignalR. It discusses installing .NET 5 on the Raspberry Pi, using GPIO and device bindings to control circuits and servos, creating Blazor and SignalR apps to remotely drive the robot arm in real-time, and possibilities for augmented reality and virtual reality using Unity. The document is presented by Pete Gallagher and contains his contact information.
Building a Raspberry Pi Robot Arm with .NET 5, Blazor and SignalR - HackSoc - 26th October 2021
- 1. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Building a Raspberry Pi Robot Arm with .NET 5, Blazor and SignalR PETE GALLAGHER PETECODES.CO.UK / PJGCREATIONS.CO.UK
- 2. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes About Me Pete Gallagher @pete_codes / @PJGCreations www.PeteCodes.co.uk www.PJGCreations.co.uk [email protected] IT Consultant, Microsoft Certified Trainer & Azure MVP, Pluralsight Author Decades of Desktop, Web & Embedded Software experience, Meetup Organiser, STEM Ambassador, Code Club Organiser … Gadget Addict Father of two inquisitive girls
- 3. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes What we’re going to be doing… .NET 5 Installing .NET 5 Hello World(s) Raspberry Pi GPIO and the Circuit Basic GPIO control Device Bindings and Driving Servos Blazor and SignalR Final Demo Q&A
- 4. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes .NET 5
- 5. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes .NET 5 INFRASTRUCTURE .NET STANDARD .NET is a software development platform DESKTOP WEB CLOUD MOBILE GAMING IoT AI
- 6. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes What’s new in .NET? Open Source and Cross Platform (Including the Pi) C#9 Language Features Records Init Only Properties Pattern Matching Top Level Programs System.Text.Json James Newton-King
- 7. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes .NET Ecosystem Momentum > 1.5M .NET Core Developers In Visual Studio #1 Most Loved Framework .NET Core Top 30 Highest velocity OSS Projects github.com/dotnet github.com/aspnet Top 5 Language on GitHub C# 7x Faster than Node.js ASP.NET Core 40% New to .NET are students dot.net download survey Build 2020 – Journey to one .NET - https://www.youtube.com/watch?v=ctSqiD8BGPM
- 8. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Install
- 9. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Install Single Line Install wget -O - https://raw.githubusercontent.com/pjgpetecodes/dotnet5pi/master/install.sh | sudo bash
- 10. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Demo 1 Console App
- 11. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes .NET Core & GPIO
- 12. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes System.Device.Gpio Supports I/O, SPI, PWM, I2C Supports Raspberry Pi, Beagleboard, Hummingboard, Odroid etc Supports Linux and Windows 10 IoT Installs via the CLI or Nuget PM https://www.nuget.org/packages/ System.Device.Gpio
- 13. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi GPIO Board Numbering BCM Numbering
- 14. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Circuit 1 Pin 10 Pin 26
- 15. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Demo 2 Hello World (Again!)
- 16. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Iot.Device.Bindings Support for BME280 Temp / Humidity Sensor MCP23xxx I/O Expander Explorer Hat Sense Hat Servos Much more… https://www.nuget.org/packages/ Iot.Device.Bindings
- 17. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Circuit 2
- 18. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Servo Control Board Pin 25 Pin 35 Pin 13 Pin 12
- 19. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Servos Control Power Ground
- 20. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Servos
- 21. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Demo 3 Servo Demo
- 22. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Blazor
- 23. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes “Blazor is a single-page app framework for building interactive client-side Web apps with .NET” Scott Hansleman Blazor
- 24. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Blazor Started Life as Steve Sanderson’s Pet Project Web UI Framework based in C# Replaces JavaScript Razor and HTML Server Side or Client Side WebAssembley Client Side .NET with no plugins Support in most modern Browsers https://bit.ly/pjgblazor
- 25. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes SignalR
- 26. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes “ASP.NET SignalR is a library for ASP.NET developers to add real- time web functionality to their applications” Wikipedia SignalR
- 27. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes SignalR Open Source Created by David Fowler and Damian Edwards in 2011 Enables Bi-directional Real-Time communications Supports; Web Sockets Server-Sent Events Long Polling https://bit.ly/pjgsignalr
- 28. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Demo 4 Drive the Arm!
- 29. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Uno Platform
- 30. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes “The Uno Platform is a Universal Windows Platform Bridge that allows UWP-based code to run on iOS, Android, WebAssembly, Mac & Linux” Uno Uno Platform
- 31. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Uno Platform UWP – XAML – C# Created by Jérôme Laban Open Source & Cross Platform Uno Platform 3.0 – UnoConf WinUI 3 Skia and GTK for Linux UI (Preview) https://bit.ly/pjgunoplatform
- 32. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Unity and VR
- 33. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes “Unity is a Cross-Platform Game Engine… Unity gives users the ability to create games and experiences in both 2D and 3D” Wikipedia Unity and VR
- 34. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Unity and VR Founded in 2002 Nicholas Francis, Joachim Ante, and David Helgason Cross platform deployment Supports VR headsets C# .NET Standard 2.0 and .NET 4.x Add Nuget Packages https://unity.com/
- 35. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Raspberry Pi Demo 6 VR Robots!
- 36. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Links GitHub and Workshop https://bit.ly/dotnet5robotarmrepo C# 9 + Dot Net 5 https://bit.ly/pjgdotnet5announcement Installing Dot Net 5 on the Raspberry Pi http://bit.ly/dotnet5pi Dot Net GPIO Nuget Package https://www.nuget.org/packages/System.Device.Gpio Dot Net IoT Device Bindings Source Code https://github.com/dotnet/iot/tree/master/src/devices 3D Printed Robot Arm – From the presentation https://www.thingiverse.com/thing:1015238 3D Printed Robot Arm - Workshop http://bit.ly/pjgrobotarmparts
- 37. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Links Blazor https://bit.ly/pjgblazor MatBlazor https://www.matblazor.com/ Awesome Blazor https://github.com/AdrienTorris/awesome-blazor SignalR https://bit.ly/pjgsignalr Uno Platform https://bit.ly/pjgunoplatform
- 40. Tech Days 2021 A Flight into IoT https://aka.ms/techdays/IoT Monday November 15th from 10am GMT Pete Gallagher Cliff Agius José Simões Maria-Anastasia Moustaka Sander van de Velde John Lunn Jurgen Kevelaers Gosia Borzecka
- 41. THURSDAY 11TH NOVEMBER FROM 18:30 BST ON ZOOM! Bruno Capuano Innovation Lead at Avanade Canada TinyML and SkySharks
- 42. Lee Englestone Augmented Reality MONDAY NOVEMBER 29TH FROM 18:30GMT ON ZOOM! https://bit.ly/dotnetnottsnovember
- 43. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Twitter @pete_codes / @PJGCreations Email: [email protected] Website: https://www.petecodes.co.uk https://www.pjgcreations.co.uk Notts IoT: https://www.nottsiot.co.uk Dot Net Notts: https://www.dotnetnotts.co Notts Dev Workshop: https://www.nottsdevworkshop.co.uk LATi: https://www.lati.org.uk Agile Engineering Podcast: https://agileengineeringpodcast.com/ Azureish Live: https://www.twitch.tv/azureishlive Contact Me Slides: https://bit.ly/pjghacksock21
- 44. Building a Robot Arm with Raspberry Pi, .NET 5, Blazor & SignalR – Copyright Pete Gallagher 2021 – @Pete_Codes Contact Me Pete Gallagher @pete_codes / @PJGCreations www.PeteCodes.co.uk www.PJGCreations.co.uk [email protected]
Editor's Notes
- #6: .NET is an entire software development platform that takes care of a lot of the heavy lifting for you when you want to build an application. Applications frameworks help you build the specific types of apps or workloads and enable you to literally build any app for any platform with any operating system. Each .NET workload shares a common infrastructure and .NET Standard library. This means not only are your .NET skills portable, but your actual code is portable no matter what you’re building. This makes it easy to share reusable components (called libraries) across the breadth of applications people build. Additionally, there are a broad set of development tools that makes it really productive to write, debug, build and manage code bases. See: www.dot.net
- #8: Build 2020 – Journey to one .NET - https://www.youtube.com/watch?v=ctSqiD8BGPM https://insights.stackoverflow.com/survey/2019#technology-most-loved-dreaded-and-wanted-loved3 github.com/cncf/velocity octoverse.github.com www.techempower.com/benchmarks/#section=data-r18&hw=ph&test=plaintext
- #22: Each PWM Channel is created passing in; The Chip Number The PWM Channel The Frquency Optionally, the Duty Cycle Percentage We also then create two ServoMotor objects, passing in; The PWM Channel we'll be using The Maximum Angle of the Servo - We're using a 180 degree Servo, so we pass in 180 here The Minimum Pulse Width The Maximum Pulse Width
- #24: Blazor replaces javascript and runs C# on the client side directly in the browsers with no plugins needed. Blazor Server – Works as a web Server (Shipped) Blazor Web Assembly (May 2020) Blazor Renders HTML, but Blazor Native but can render to other things like Native Controls for Mobile.
- #25: Blazor replaces javascript and runs C# on the client side directly in the browsers with no plugins needed. Blazor Server – Works as a web Server (Shipped) Blazor Web Assembly (May 2020) Blazor Renders HTML, but Blazor Native but can render to other things like Native Controls for Mobile. Originally developed as a pet project by Steve Sanderson at Microsoft, Blazor is Web UI Framework which is based on C#, Razor and HTML. Blazor compiles down to WebAssembly, which makes it super (or blazingly) fast (Hence the Razor with a “B”). Blazor allows developers to write client side .net… You may say “Oh, like Silverlight?”… Nope, no plugins needed… It’s just supported natively in most modern browsers.
- #29: Server: Hubs ChatHub Startup.cs using BlazorSignalRApp.Server.Hubs; ConfigureServices services.AddSignalR(); app.useEndpoint endpoints.MapHub<ChatHub>("/chathub"); Properties Launchconfig applicationUrl Client Pages Index.razor _imports.rzor Wwwroot Index.html