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.

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
Pete@PJGCreations.co.uk
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

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

39. pluralsight.pxf.io/az220

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:
pete@pjgcreations.co.uk
 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
Pete@PJGCreations.co.uk