This modifies a stock debian root filesystem to be able to operate as a vision pi. It is not trying to be reproducible, but should be good enough for FRC purposes.

The default hostname and IP is pi-971-1, 10.9.71.101. Username pi, password raspberry.

Download 2021-10-30-raspios-bullseye-armhf-lite.img (or any newer bullseye version, as a .zip file) from https://www.raspberrypi.org/downloads/raspberry-pi-os/, extract (unzip) the .img file, and edit modify_rootfs.sh to point to it.

Run modify_rootfs.sh to build the filesystem (you might need to hit return in a spot or two and will need sudo privileges to mount the partition):

• modify_root.sh

VERY IMPORTANT NOTE: Before doing the next step, use lsblk to find the device and make absolutely sure this isn't your hard drive or something else. It will target /dev/sda by default, which in some computers is your default hard drive.

After confirming the target device, edit the make_sd.sh script to point to the correct IMAGE filename, and run the make_sd.sh command, which takes the name of the pi as an argument:

• make_sd.sh pi-971-1

OR, if you want to manually run this, you can deploy the image by copying the contents of the image to the SD card. You can do this manually, via dd if=2020-02-13-raspbian-bullseye-lite-frc-mods.img of=/dev/sdX bs=1M

From there, transfer the SD card to the pi, log in, sudo to root, and run /root/bin/change_hostname.sh to change the hostname to the actual target.

A couple additional notes on setting this up:

• You'll likely need to install (sudo apt install) the emulation packages proot and qemu-user-static (or possibly qemu-arm-static)
• If the modify_root.sh script fails, you may need to manually unmount the image (sudo umount ${PARTITION} and rmdir ${PARTITION}) before running it again
• Don't be clever and try to link to the image file in a different folder. These scripts need access directly to the file and will fail otherwise

Things to do once the SD card is complete, and you've booted a PI with it:

• Download the code: Once this is completed, you can boot the pi with the newly flashed SD card, and download the code to the pi using: `bazel run -c opt --cpu=armv7 //y2022:pi_download_stripped -- PI_IP_ADDR

  where PI_IP_ADDR is the IP address of the target pi, e.g., 10.9.71.101