The setup

• 2 X HC-SR04 Ultrasonic Sensor on Raspberry Pi

• 1 X Raspberry PI 3B

• 1 X USB webcam

• 1 X Double BTS7960 43A High power motor driver module.

• 1 X L298 DC motor driver module

Upgrades To come:

• 1 X Webcam Wide angle 5 MP

Install dependencies

Instructions assume that you are using Raspbian Linux.

Python3 Install

• sudo apt-get install python3-pip
• sudo apt-get install python-pip

Opencv 2 Install

• sudo pip3 install numpy
• sudo pip3 install opencv-python
• sudo apt-get install libcblas-dev
• sudo apt-get install libhdf5-dev
• sudo apt-get install libhdf5-serial-dev
• sudo apt-get install libatlas-base-dev
• sudo apt-get install libjasper-dev
• sudo apt-get install libqtgui4
• sudo apt-get install libqt4-test

Pillow Install

• sudo apt install libwebp6 libtiff5 libjbig0 liblcms2-2 libwebpmux3 libopenjp2-7 libzstd1 libwebpdemux2
• python3 -m pip install --upgrade pip
• python3 -m pip install --upgrade Pillow

Description

Controlling RC car using Raspberry PI, and 2 HC-SR04 Ultrasonic Sound Sensor.

Returns an distance by using the median reading of 5 readings, if the distance is smaller that 15 cm, it stops and goes back, selecting a new route (left / right)

Uses BCM pin values by default. BOARD pin values are supported, by changing GPIO.setmode(GPIO.BCM) to GPIO.setmode(GPIO.BOARD), remember to setup the new PINS.

Contributing

Contributions to Rapberry-Pi-Self-driving-RC-car are always welcome.

Setup

import RPi.GPIO as GPIO - You need to uncomment this line, as i was writing the program on a windows machine.

You need to install the following modules. opencv 2 (cv2)

pillow (PIL)

import GPIO_TEST as GPIO - Comment out this on Raspberry

GPIO PINS

TRIG + TRIG1 = Goes to the HC-SR04 Trigger.

TRIG = 4 # pin 7

TRIG1 = 27 # pin 13

ECHO + ECHO1 = Goes to the Echo pins on the HC-SR04.

ECHO = 17 # pin 11

ECHO1 = 22 # pin 15

led = Goes to lights for the RC car.

led = 18 # pin 12

The rest goes to the motor controller, selfexplained.

gpio_right = 5 # pin 29

gpio_back = 6 # pin 31

gpio_left = 13 # pin 33

gpio_forward = 26 # pin 37

Enjoy :-)