== Baseline Minibot Raspbian Image Build Instructions 

* Plan A: [wiki:PibotGoldenImage This process] creates a 5GB image suitable for installation on any 8GB or larger USD card

* Plan B: note that some of the below install steps may already be in the stock image, so don't worry about it if they're already installed)
   1. Download stock [https://www.raspberrypi.org/downloads/raspbian/ Raspian Light] image
   2. Follow [https://www.raspberrypi.org/documentation/installation/installing-images/README.md these directions] for installing it to a uSD card
      * Make sure the card is not write protected
      * Delete any existing partitions on the uSD card (you can use [https://www.howtogeek.com/101862/how-to-manage-partitions-on-windows-without-downloading-any-other-software/ windows disk manager] (Win-R diskmgmt.msc))
* [wiki:SetupPiZeroSSHOverUSB Setup IP over USB for the Pi Zero]

* Install [http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html PuTTY] and use it to connect to the Pi:
    Hostname: pibot.local[[br]]
    Username: pi[[br]]
    Password: raspberry[[br]]

* Update to latest software (this will take a while):
     {{{
       sudo apt-get update
       sudo apt-get upgrade
     }}}
* Install some useful packages:
     {{{
       sudo apt-get install i2c-tools
       i2cdetect -y 1
     }}}
* Install Oracle Java JDK. Do not use stock OpenJDK, it's slower. (TODO: try [https://www.azul.com/downloads/zulu-community/?architecture=arm-32-bit-hf&package=jdk Azul Java])
     {{{ 
       sudo apt-get install oracle-java8-jdk
       sudo update-alternatives --config java
       sudo update-alternatives --config javac
     }}}
  * Then test,  by running {{{java -version}}}.  It should say java 8, not openjdk.

To access the I/O capabilities of the Pi (and the PiBot hat), you must install additional libraries; either Oracle's Device I/O (DIO) or Pi4J (which uses WiringPi) or both.  You can read about them [https://dzone.com/refcardz/iot-applications-with-java-and-raspberry-pi here].  Tutorials are [http://www.slideshare.net/javafxpert/raspberry-pi-with-java-8 here] and [https://blogs.oracle.com/javatraining/entry/using_device_i_o_with here]

* Install [http://pi4j.com/ Pi4J]
     {{{
       mkdir -p ~/dev;cd ~/dev
       curl -s get.pi4j.com | sudo bash
     }}}
* Test installation by checking version: {{{pi4j -v}}}
* Install Oracle [https://gautric.github.io/blog/2016/03/09/rhiot-Device-IO-API-i2cdetect-impl.html Device I/O] (DIO) library.
  See usage [http://www.oracle.com/technetwork/articles/java/cruz-gpio-2295970.html here] and [http://www.oracle.com/technetwork/articles/java/cruz-gpio-2295970.html 
{{{
  sudo apt-get install mercurial
  hg clone http://hg.openjdk.java.net/dio/dev jdkdio
  cd jdkdio
  export JAVA_HOME=/usr/lib/jvm/jdk-8-oracle-arm32-vfp-hflt
  export PI_TOOLS=/usr
  make
  sudo cp -r build/deviceio/lib/* $JAVA_HOME/jre/lib
}}}
* Test Device I/O following [https://gautric.github.io/blog/2016/03/09/rhiot-Device-IO-API-i2cdetect-impl.html these directions] or [https://dzone.com/refcardz/iot-applications-with-java-and-raspberry-pi these].  Projects must be linked with build/jar/dio.jar and reference the appropriate policy files.  For example, to run a program:
{{{ sudo java -Djava.security.policy=./java.policy -classpath .:./dio.jar  -Djdk.dio.registry=./dio.properties DioLed }}}.  An example java.policy is:
{{{
   // grant all permissions for the DIO framework
   grant {
       permission jdk.dio.DeviceMgmtPermission "*:*", "open";
       permission jdk.dio.gpio.GPIOPinPermission "*:*", "open,setdirection";
       permission jdk.dio.gpio.GPIOPortPermission "*:*";
       permission jdk.dio.i2cbus.I2CPermission "*:*";
       permission jdk.dio.spibus.SPIPermission "*:*";
       permission jdk.dio.uart.UARTPermission "*:*";
   };
}}}
A properties file is also required; see [https://eclipse.github.io/kura/doc/kura-dio-apis.html here]


* Install [https://www.nano-editor.org/ Nano] text editor {{{sudo apt-get install nano}}}
* Install [https://en.wikipedia.org/wiki/Avahi_(software) Avahi] (mDNS/zeroconf) {{{sudo apt-get install avahi-daemon}}}
* Update Raspian Configuration {{{ sudo raspi-config }}}
   * Activate the Pi Zero's built-in I2C Interface:
     * Use the down arrow to select 'Advanced Options'
     * Arrow down and select 'I2C'
     * Select 'Yes' to enable the I2C Interface
     * Acknowledge the notification confirming the I2C Interface has been enabled
* [wiki:SetupPiZeroWiFi Setup WiFi for a Pi Zero]  
* Reboot one last time, and log back in.  Capture OS image for reuse by
  * ???     
=== Per Minibot config instructions (with baseline image above installed)
* Update Raspian Configuration {{{ sudo raspi-config }}}
   * Customize host name.  Reference hostname list for assigned names.  Be sure not to duplicate!
   * Change the keyboard setup (under internationalization) to US English (see [https://www.raspberrypi.org/forums/viewtopic.php?f=28&t=80127 here])
   * Select 'expand to use entire sd card'.   This will reboot the pi. 

=== Other Miscellaneous Things
* [http://www.savagehomeautomation.com/projects/pi4j-now-supports-non-privileged-access-no-more-rootsudo.html]
* [http://avilpage.com/2014/02/best-way-to-restore-usb-drive-back-to/ restore size of a uSD card]
* [wiki:HowToRunProgramAtStartupPiZero How to run a program at startup on the Pi Zero]
* http://www.savagehomeautomation.com/projects/pi4j-connecting-java-to-the-raspberry-pi.html
* [https://www.youtube.com/watch?v=grItDpy3TRM video tutorial]
* Doesn't wiringpi get installed as part of Pi4j install??? If not:
  * Install git: {{{ sudo apt-get install git }}}
  * Install [http://wiringpi.com/ wiringPi]: 
     {{{
       mkdir ~/dev;cd ~/dev
       git clone git://git.drogon.net/wiringPi
       cd wiringPi
       ./build  
     }}}
  * [http://wiringpi.com/download-and-install/ Install wiringPi]
  * Then, test by running  "gpio -v" and "gpio readall"