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robocar

DIY Robocar with RaspberryPi and Pi Camera

Hardware

  • Raspberry Pi 3 Model B/B+
  • Adafruit DC & Stepper Motor HAT for Raspberry Pi

Software

Function: Teleops

Using an XBox game controller to control robocar. XBox Controller configuration:

  • Right trigger (axes 5): forward
  • Left trigger (axes 2): reverse/brake
  • Left joy-stick (axes 0): steer
catkin_make
source devel/setup.bash
roslaunch launch/dbw.launch

Function: Preset Drive Commands (Blind)

Using pre-saved drive command (throttle,steer,duration) to drive robocar.

catkin_make
source devel/setup.bash
roslaunch launch/blindmove.launch

Note: Edit src/blindmove/launch/drivecommands.csv with one drive command per line in the following format:

  • throttle(-1.0:1.0), steer(-1.0:1.0), duration(sec)

Function: Camera Control Driving

Using camera input to calculate drive commands.

catkin_make
source devel/setup.bash
roslaunch launch/cam.launch

Note: Work-in-progress (5/10/2018)

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DIY Robocar with RaspberryPi and Pi Camera

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  • OpenEdge ABL 86.9%
  • Python 9.1%
  • CMake 4.0%