a robot inspired by Boston Dynamics' Handle

Since this runs on a Raspberry Pi, there are a few extra setup steps beyond a basic Rust install.

tl;dr:

# Install the Rust toolchain for ARM / Linux / musl
rustup target add armv7-unknown-linux-musleabihf

# Install some macOS-specific cross-compilation tooling
brew install arm-linux-gnueabihf-binutils 

# Configure cargo to use that tooling
echo "[target.armv7-unknown-linux-musleabihf]\nlinker = \"arm-linux-gnueabihf-ld\"" >> ~/.cargo/config  

1. Raspberry Pi Imager is a neat little utility to help configure a pi without having to remember all the little config file options. Set various things in the imager:

• Raspberry Pi OS Lite - skips desktop environment
• Set hostname to pi
• Set up username/password
• Set up WiFi SSID/password
• Enable SSH
• SSH public key

2. Enable PWM on the pi by adding this to /boot/config.txt:

# Enable hardware PWM on GPIO pins 12 and 13
dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4

3. Install ansible on your local machine:

# macOS
brew install pipx
pipx ensurepath

# Ubuntu
sudo apt update
sudo apt install pipx
pipx ensurepath

# Arch
sudo pacman -Syu
sudo pacman -S python-pipx
pipx ensurepath

# and Ansible itself...
pipx install --include-deps ansible

4. Make sure your ansible/hosts file is pointing to your pi. You can verify this is configured properly with:

ansible pi -m ping -i ansible/inventory.ini

5. Run Ansible to set everything else up, theoretically!

ansible-playbook -i ansible/inventory.ini ansible/full-setup.yaml 
ansible-playbook -i ansible/inventory.ini ansible/randal-full.yaml

https://amritrathie.vercel.app/posts/2020/03/06/cross-compiling-rust-from-macos-to-raspberry-pi

https://protosupplies.com/product/mpu-9250-3-axis-accel-gryo-mag-sensor-module/