Use this checklist to go from blank microSD card to a TARS unit that can move, listen, and talk. Copy it into Notion if you want a hosted version.
Stage 1 – Flash Raspberry Pi OS
- Download “Raspberry Pi OS (32-bit, with desktop)” from raspberrypi.com.
- Use Raspberry Pi Imager (or Balena Etcher) to flash the image to a microSD card.
- In Imager’s advanced options (gear icon):
- Enable SSH (password auth is fine for now).
- Set a hostname (e.g.,
tars-pi).
- Configure Wi-Fi SSID, password, and locale.
- Insert the microSD card into the Pi, connect keyboard/monitor if needed, and power up.
Stage 2 – First Boot & System Config
- Log in (default user
pi, or your chosen credentials).
- Update the base system:
sudo apt update && sudo apt upgrade -y
- Enable I²C (and optionally SPI) in the Raspberry Pi Configuration tool:
sudo raspi-config
Navigate to Interfacing Options → I2C → Enable.
- Reboot (
sudo reboot) to apply firmware settings.
Stage 3 – Hardware Verification
- After reboot, confirm the I²C bus sees the PCA9685 driver:
sudo i2cdetect -y 1
Expect to see
0x40 (default PCA9685 address).
- Plug in your USB gamepad and list input devices:
ls /dev/input/event*
Note the path (
/dev/input/eventX) so you can adjust configuration if needed.
Stage 4 – Clone the Repository