In this session delivered for Yorkshire .NET, I talk about how you can control a 3D printed Robot Arm with a Raspberry Pi, .NET 6, Blazor and SignalR. I also show how you can use a Unity app on an Oculus Quest 2 to control the arm VR too. You can find the GitHub repo and workshop instructions here; https://bit.ly/dotnet5robotarmrepo

1. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Building a Raspberry Pi
Robot Arm with .NET 6,
Blazor and SignalR
PETE GALLAGHER
PETECODES.CO.UK

2. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
About Me
Pete Gallagher
@pete_codes
www.PeteCodes.co.uk
pete@pjgcreations.co.uk
Freelance IoT Consultant at PJG Creations Ltd
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 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
What we’re going to be doing…
 .NET 6
 Installing .NET 6
 Raspberry Pi GPIO and the Circuit
 Hello World (In the world of IoT)
 Device Bindings and Driving Servos
 Blazor and SignalR
 Final Demos
 Q&A

4. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
.NET 6

5. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
.NET 6
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 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
What’s new in .NET 6?
 ARM64 Support
 .NET MAUI
 Global Using
 File-Scoped Namespaces
 HTTP/3
 Record Structs
 Async Main
http://bit.ly/dotnet6newfeatures

7. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Install

9. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Install
Single Line Install
wget -O - https://raw.githubusercontent.com/pjgpetecodes/dotnet6pi/master/install.sh | sudo bash

10. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
.NET 6 & GPIO

11. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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

12. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi GPIO
Board Numbering
BCM Numbering

13. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Circuit 1
Pin 10
Pin 26

14. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Demo 1
Hello World (In the world of IoT)

15. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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

16. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Circuit 2

17. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Servo Control Board
Pin 25
Pin 35
Pin 13
Pin 12

18. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Servos
Control
Power
Ground

19. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Servos

20. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Demo 2
Servo Demo

21. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Blazor

22. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
“Blazor is a single-page app
framework for building
interactive client-side Web
apps with .NET”
Scott Hansleman
Blazor

23. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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

24. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
SignalR

25. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
“ASP.NET SignalR is a library for
ASP.NET developers to add real-
time web functionality to their
applications”
Wikipedia
SignalR

26. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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

27. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Demo 3
Drive the Arm!

28. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Unity and VR

29. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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

30. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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/

31. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Raspberry Pi Demo 4
VR Robots!

32. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Links
 GitHub and Workshop
https://bit.ly/dotnet5robotarmrepo
 C# 10 + Dot Net 6
http://bit.ly/pjgdotnet6announcement
 Installing Dot Net 6 on the Raspberry Pi
http://bit.ly/dotnet6pi
 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

33. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @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

34. IoTeaLive
https://twitch.tv/azureishlive

35. pluralsight.pxf.io/az220

36. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
 Twitter
@pete_codes
 Email:
pete@pjgcreations.co.uk
 Personal Website:
https://www.petecodes.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/pjgndcmelbourne2022

37. Building a Robot Arm with Raspberry Pi, .NET 6, Blazor & SignalR – Copyright Pete Gallagher 2022 – @Pete_Codes
Contact Me
Pete Gallagher
@pete_codes /
@PJGCreations
www.PeteCodes.co.uk
www.PJGCreations.co.uk
Pete@PJGCreations.co.uk
Slides: https://bit.ly/pjgyorkshiredotnet2022