The Groq Chatbot-Controlled Robot project demonstrates an advanced, AI-assisted mobile robot interface that interprets natural language commands and executes real-time physical movements. This project integrates the power of Groq LLMs, Flask-based REST API, and a Flutter mobile app, enabling full-stack control of a robot equipped with Acrome's SMD Red motor controllers.
The SMD acts as a bridge between the script and the modules. It is responsible for interpreting the commands sent by the script and translating them into actions that read input from the Ultrasonic Distance Sensor Module and meanwhile, actuate the motor for the continuous reading of the script.
The 100 RPM BDC Motor with Encoder is used to rotate the radar mechanism in a full circle. The user can precisely control the motor and get the position through the built-in encoder.
Key Features
The robot is capable of:
AI-based command parsing and execution
Angle-based rotation
Wi-Fi connection fallback with Hotspot mode
Step 2: Assemble
1. Connect the Hardware:
Mount the Raspberry Pi onto your robot chassis.
Connect the USB Gateway Module to the Raspberry Pi via USB.
Connect SMD Red 0 and SMD Red 1 (for left and right motors) to the USB Gateway via RJ-45 cables.
2. Motor and Sensor Setup:
Attach 100 RPM BDC Motors with encoders to the robot frame.
Connect left motor to SMD Red 0, right motor to SMD Red 1.
(Optional) Connect an ultrasonic distance sensor to SMD Red 1, using Module ID 5 for obstacle detection.
3. Wiring and Power:
Power the SMD Red modules using a 12V battery or adapter.
Power the Raspberry Pi using a USB-C power source or power bank.
Confirm that all RJ-45 cables are securely plugged in between the gateway and the SMD modules.
4. Software Setup on Raspberry Pi:
Install required packages:
Install SMD Python SDK (if not already installed):
Set USB port permissions (run once after boot):
5. Final Check:
Ensure the camera, motors, and sensors are securely mounted.
Verify the USB Gateway is detected via /dev/ttyUSB0.
Your Raspberry Pi is now ready to run the AI-based robot server.
Project Wiring diagram
Step 3: Run & Test
1. Start the Backend Server:
On the Raspberry Pi, run the Flask app:
This will start the AI server on http://<raspberrypi-ip>:5000.
2. Connect with the Mobile App:
Launch the Flutter-based app on your mobile phone.
bashCopyEditcurl -X POST http://<raspberrypi-ip>:5000/shutdown
from flask import Flask, request, jsonify
from flask_cors import CORS
from groq import Groq
import requests
import json
import time
import math
from smd.red import Master,Red,OperationMode
from serial.tools.list_ports import comports
from platform import system
import os
import subprocess
import sys
import signal
import logging
logging.basicConfig(
filename="app.log", # File where logs will be saved
level=logging.DEBUG, # Capture all levels of logs, including errors
format="%(asctime)s - %(levelname)s - %(message)s"
)
func_call=None
APIKEY = None
API_KEY_FILE = "api_key.txt"
def USB_Port():
ports = list(comports())
usb_names = {
"Windows": ["USB Serial Port"],
"Linux": ["/dev/ttyUSB"],
"Darwin": [
"/dev/tty.usbserial",
"/dev/tty.usbmodem",
"/dev/tty.SLAB_USBtoUART",
"/dev/tty.wchusbserial",
"/dev/cu.usbserial",
"/dev/cu.usbmodem",
"/dev/cu.SLAB_USBtoUART",
"/dev/cu.wchusbserial",
]
}
os_name = system()
if ports:
for port, desc, hwid in sorted(ports):
if any(name in port or name in desc for name in usb_names.get(os_name, [])):
return port
print("Current ports:")
for port, desc, hwid in ports:
print(f"Port: {port}, Description: {desc}, Hardware ID: {hwid}")
else:
print("No port found")
return None
def get_groq_client():
if not APIKEY:
raise ValueError("API Key is missing!")
return Groq(api_key=APIKEY)
def save_api_key(api_key):
global APIKEY
APIKEY = api_key
with open(API_KEY_FILE, "w") as file:
file.write(api_key)
def load_api_key():
global APIKEY
if os.path.exists(API_KEY_FILE):
with open(API_KEY_FILE, "r") as file:
APIKEY = file.read().strip()
def connect_wifi(ssid, password):
try:
first_check=subprocess.run("nmcli connection show --active", shell=True, capture_output=True, text=True)
if "preconfigured" in first_check.stdout:
subprocess.run("sudo nmcli connection down preconfigured", shell=True, check=True)
print(f"Updating preconfigured connection with SSID: {ssid}")
subprocess.run(f"sudo nmcli connection modify preconfigured 802-11-wireless.ssid \"{ssid}\"", shell=True, check=True)
subprocess.run(f"sudo nmcli connection modify preconfigured 802-11-wireless-security.psk \"{password}\"", shell=True, check=True)
print("Activating preconfigured connection...")
subprocess.run("sudo nmcli connection up preconfigured", shell=True, check=True)
print("Checking connection status...")
time.sleep(5)
result = subprocess.run("nmcli connection show --active", shell=True, capture_output=True, text=True)
if "preconfigured" in result.stdout:
print(f"Successfully connected to Wi-Fi SSID: {ssid}")
return True
else:
print("Failed to connect to Wi-Fi, switching to Hotspot...")
subprocess.run("sudo nmcli connection up Hotspot", shell=True, check=True)
return False
except subprocess.CalledProcessError as e:
print(f"Error: {e}")
return False
# Function to generate AI response for robot commands
function_instructions = """
You are a robot control assistant. For each question, you should return a JSON object in the following format:
[
{
"function": "function_name",
"parameters": {
"parameter1": value1,
"parameter2": value2
}
}
]
Available functions:
1. init_robot - Initializes the robot's position. No parameters.
2. linear_movement - Moves the robot a specified distance in cm. If user dont write speed you should use default value. (default value is:30)\n
- Parameters: cm (int) - Distance to move in cm, speed (int)\n
3. turn_left - Turns the robot a specified degree counterclockwise (left). If the user doesn't write speed, you should use the default value (default value is: 30).\n
- Parameters: degree (int) - Degree to turn, rotation_speed (int)\n
4. turn_right - Turns the robot a specified degree clockwise (right). If the user doesn't write speed, you should use the default value (default value is: 30).\n
- Parameters: degree (int) - Degree to turn, rotation_speed (int)\n
5. radial_movement - Moves the robot along a circular path with a given radius and angle.\n
- Parameters: radius (int), degree (int)\n
6. distance_movement -If you encounter an obstacle while moving straight ahead, let it follow the other function. Eg: For example, turn right function when approaching 20 cm\n
- Parameters: cm(int)\n
7. stop - Stop the robot. No parameters.
NOTE: The first function have to be `init_robot`. Other functions will come after init_robot function.\n
NOTE: Understand the prompt given by the user\n
"""
def get_groq_response(prompt):
client = Groq(api_key=APIKEY)
response = client.chat.completions.create(
model="llama-3.3-70b-versatile",
messages=[{"role": "user", "content": prompt}, {"role": "system", "content": function_instructions}]
)
try:
content = response.choices[0].message.content
return json.loads(content) # Parse JSON response
except Exception as e:
return None
# Robot Controller Implementation
class RobotController:
def __init__(self, wheel_radius, robot_width):
self.m = None
self.x = None
self.y = None
self.angle = None
self.wheel_radius = wheel_radius
self.robot_width = robot_width
self.robot_initialized = False
def init_robot(self):
if self.robot_initialized:
return self.x, self.y, self.angle
self.m = Master(USB_Port())
self.x = 0
self.y = 0
self.angle = 0
self.m.attach(Red(0))
self.m.attach(Red(1))
self.m.set_operation_mode(0, OperationMode.Velocity)
self.m.set_operation_mode(1, OperationMode.Velocity)
self.m.set_shaft_rpm(0,100)
self.m.set_shaft_rpm(1,100)
self.m.set_shaft_cpr(0,6533)
self.m.set_shaft_cpr(1,6533)
self.m.enable_torque(0, True)
self.m.enable_torque(1, True)
self.m.set_control_parameters_velocity(0, 25.83, 4.27, 0)
self.m.set_control_parameters_velocity(1, 29.48, 5.50, 0)
self.robot_initialized = True
return self.x, self.y, self.angle
def linear_movement(self, cm, speed=30):
kp = 1
if speed > 100:
print("You cannot exceed speed 100.")
speed = 30
print(speed)
try:
motor1_offset = self.m.get_position(0) / 6533
motor2_offset = self.m.get_position(1) / 6533
err = 100
while abs(err) > 2:
try:
# Motor pozisyonlarını oku
motor1 = self.m.get_position(0) / 6533 - motor1_offset
motor2 = self.m.get_position(1) / 6533 - motor2_offset
motor_mean = (-motor1 + motor2) / 2
# Robotun ilerlediği mesafeyi hesapla
car_pos = motor_mean * 2 * math.pi * self.wheel_radius
err = cm - car_pos
print(cm, car_pos)
# PID tabanlı hız kontrolü
calc_velo = err * kp
if calc_velo > speed:
calc_velo = speed
elif calc_velo < -speed:
calc_velo = -speed
# Motor hızlarını ayarla
self.m.set_velocity(0, -calc_velo)
self.m.set_velocity(1, calc_velo)
except Exception as e:
print("Error during motor position read or calculation:", str(e))
continue
except Exception as e:
print("Error initializing motor positions:", str(e))
self.m.set_velocity(0, 0)
self.m.set_velocity(1, 0)
# Robotun pozisyonunu güncelle
self.x += cm
return self.x, self.y, self.angle
def turn_left(self, degree, rotation_speed=30):
"""Robotun saat yönünün tersine (sola) dönüşü pozisyon tabanlı kontrol ile."""
rotation_speed = float(rotation_speed)
degree = float(degree)
if rotation_speed > 100:
print("Rotation speed cannot exceed 100.")
rotation_speed = 30
if rotation_speed < -100:
print("Rotation speed cannot be less than -100.")
rotation_speed = -30
print("Adjusted rotation speed:", rotation_speed)
# Dönüş sırasında gereken tekerlek mesafesi
arc_length = (degree / 360) * (math.pi * self.robot_width) # Robotun döneceği yay uzunluğu
wheel_rotation = arc_length / (2 * math.pi * self.wheel_radius) # Tekerleklerin dönmesi gereken tur sayısı
# Motorların hedef pozisyonlarını hesapla
left_motor_target = self.m.get_position(0) - (wheel_rotation * 6533) # Sol motor geri
right_motor_target = self.m.get_position(1) + (wheel_rotation * 6533) # Sağ motor ileri
# Hareketi başlat
while True:
left_motor_current = self.m.get_position(0)
right_motor_current = self.m.get_position(1)
# Her iki motorun hedef pozisyona ne kadar yaklaştığını kontrol et
left_error = abs(left_motor_target - left_motor_current)
right_error = abs(right_motor_target - right_motor_current)
print(left_error)
print(right_error)
if left_error < 525 or right_error < 525: # Hata toleransı
self.m.set_velocity(0, 0)
self.m.set_velocity(1, 0)
break
# Motorlara hız gönder
if left_motor_current > left_motor_target:
self.m.set_velocity(0, rotation_speed) # Sol motor geri
if right_motor_current < right_motor_target:
self.m.set_velocity(1, rotation_speed) # Sağ motor ileri
# Robotun açısını güncelle
self.angle -= degree
if self.angle < 0:
self.angle += 360
print(f"Updated Position: x={self.x}, y={self.y}, angle={self.angle}")
return self.x, self.y, self.angle
def turn_right(self, degree, rotation_speed=30):
"""Robotun saat yönünde (sağa) dönüşü pozisyon tabanlı kontrol ile."""
if rotation_speed > 100:
print("Rotation speed cannot exceed 100.")
rotation_speed = 30
if rotation_speed < -100:
print("Rotation speed cannot be less than -100.")
rotation_speed = -30
print("Adjusted rotation speed:", rotation_speed)
# Dönüş sırasında gereken tekerlek mesafesi
arc_length = (degree / 360) * (math.pi * self.robot_width) # Robotun döneceği yay uzunluğu
wheel_rotation = arc_length / (2 * math.pi * self.wheel_radius) # Tekerleklerin dönmesi gereken tur sayısı
# Motorların hedef pozisyonlarını hesapla
left_motor_target = self.m.get_position(0) + (wheel_rotation * 6533) # Sol motor ileri
right_motor_target = self.m.get_position(1) - (wheel_rotation * 6533) # Sağ motor geri
# Hareketi başlat
while True:
left_motor_current = self.m.get_position(0)
right_motor_current = self.m.get_position(1)
# Her iki motorun hedef pozisyona ne kadar yaklaştığını kontrol et
left_error = abs(left_motor_target - left_motor_current)
right_error = abs(right_motor_target - right_motor_current)
print(left_error)
print(right_error)
if left_error < 525 or right_error < 525: # Hata toleransı
self.m.set_velocity(0, 0)
self.m.set_velocity(1, 0)
break
# Motorlara hız gönder
if left_motor_current < left_motor_target:
self.m.set_velocity(0, -rotation_speed) # Sol motor ileri
if right_motor_current > right_motor_target:
self.m.set_velocity(1, -rotation_speed) # Sağ motor geri
# Robotun açısını güncelle
self.angle += degree
if self.angle >= 360:
self.angle -= 360
print(f"Updated Position: x={self.x}, y={self.y}, angle={self.angle}")
return self.x, self.y, self.angle
def radial_movement(self, radius, degree, speed=40, steps=20):
"""
Robotun belirtilen yarıçap (radius) ve açı (degree) boyunca bir daire üzerinde hareket etmesini sağlar.
Args:
radius (float): Dairenin yarıçapı (cm). Pozitif değer sağa, negatif değer sola döner.
degree (float): Hareket edilecek toplam açı (derece).
speed (int): Maksimum hız (% olarak, -100 ile 100 arası).
steps (int): Hareketi kaç adıma böleceğinizi belirtir.
"""
if speed > 100:
speed = 100
if speed < -100:
speed = -100
speed=40
degree_per_step = degree / steps
arc_length_per_step = (2 * math.pi * abs(radius) * abs(degree_per_step)) / 360
for _ in range(steps):
if radius > 0:
inner_wheel_speed = speed * (radius - (self.robot_width / 2)) / radius
outer_wheel_speed = speed
else:
inner_wheel_speed = speed
outer_wheel_speed = speed * (radius + (self.robot_width/ 2)) / radius
self.m.set_velocity(0, inner_wheel_speed)
self.m.set_velocity(1, outer_wheel_speed)
time_per_step = arc_length_per_step / (speed * (2 * math.pi * (abs(radius)) / 60))
# Bekle
time.sleep(time_per_step)
self.m.set_velocity(0, 0)
self.m.set_velocity(1, 0)
self.angle += degree
self.angle %= 360
return self.x, self.y, self.angle
def distance_movement(self,cm):
self.m.set_velocity(0,-30)
self.m.set_velocity(1,30)
while True:
a= self.m.get_distance(1,5)
print(a)
if (a<cm) and a>0.5:
self.m.set_velocity(0,0)
self.m.set_velocity(1,0)
break
def stop(self):
self.m.set_velocity(0,0)
self.m.set_velocity(1,0)
robot_controller = RobotController(wheel_radius=3.75, robot_width=28)
# Flask App Setup
app = Flask(__name__)
CORS(app)
@app.route('/connect_wifi', methods=['POST'])
def connect_wifi_route():
data = request.get_json()
ssid = data.get('ssid')
password = data.get('password')
if ssid and password:
if connect_wifi(ssid, password):
return jsonify({'status': 'success', 'message': 'Wi-Fi bağlantısı başarılı.'}), 200
else:
return jsonify({'status': 'error', 'message': 'Wi-Fi bağlantısı başarısız.'}), 500
else:
return jsonify({'status': 'error', 'message': 'SSID veya şifre eksik.'}), 400
load_api_key()
@app.route('/save_api_key', methods=['POST'])
def save_api_key_endpoint():
data = request.get_json()
if not data or "api_key" not in data:
return jsonify({"error": "No API key provided"}), 400
api_key = data["api_key"]
save_api_key(api_key)
return jsonify({"message": "API key saved successfully"}), 200
@app.route('/shutdown', methods=['POST'])
def shutdown():
try:
os.kill(os.getpid(), signal.SIGINT) # Flask'ı düzgün şekilde kapatır
return jsonify(message='Shutting down...'), 200
except Exception as e:
# Hata durumunda 500 ile geri dönüyoruz, ancak Flutter'a Error mesajı dönmeyecek.
return jsonify(message='Error occurred while shutting down the server', error=str(e)), 500 # Flask'ın genellikle CTRL+C ile kapatılmasını sağlar.
@app.route('/process', methods=['POST'])
def process_text():
data = request.get_json()
if not data or "text" not in data:
return jsonify({"error": "No text provided"}), 400
user_text = data["text"]
try:
ai_response = get_groq_response(user_text)
print(ai_response)
if not ai_response:
return jsonify({"error": "AI response generation failed"}), 500
success = execute_function(ai_response)
if success:
return jsonify({"result": "Robot executed the commands successfully!"}), 200
else:
return jsonify({"error": "Error occurred while executing commands."}), 500
except Exception as e:
logging.exception(f"Unexpected error while processing text: {str(e)}")
return jsonify({"error": f"Unexpected error: {str(e)}"}), 500
def execute_function(response):
global func_call
for func_call in response:
function = func_call.get("function")
parameters = func_call.get("parameters", {})
try:
print(f"Executing function: {function} with parameters: {parameters}")
if function == "init_robot":
robot_controller.init_robot()
elif function == "linear_movement":
robot_controller.linear_movement(parameters.get("cm", 0), parameters.get("speed", 30))
elif function == "turn_left":
robot_controller.turn_left(parameters.get("degree", 0), parameters.get("rotation_speed", 20))
elif function =="turn_right":
robot_controller.turn_right(parameters.get("degree", 0), parameters.get("rotation_speed", 20))
elif function == "radial_movement":
robot_controller.radial_movement(parameters.get("radius", 0), parameters.get("degree", 0))
elif function=="distance_movement":
robot_controller.distance_movement(parameters.get("cm",0))
elif function=="stop":
robot_controller.stop()
else:
raise ValueError(f"Unknown function: {function}")
except Exception as e:
print(f"Error while executing {function}: {e}")
return False # Hata oluştuysa `False` döndür
return True # Tüm fonksiyonlar başarılı şekilde çalıştıysa `True` döndür
if __name__ == '__main__':
app.run(host='0.0.0.0', port=5000, debug=True)
