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Configuration3 Release v1.1.1 Nov 24, 2017



Repository for the EOgmaNeo-based self driving car (SDC).

Three sub-directories contain Readme.md files that further describes each configuration. A summary for each configuration is presented below.

Included are two configurations (1 & 2) used to build a 1/10 scale 2WD RC self driving car, and a third configuration to create a hand-sized 3D printed self driving car (uSDC).

Configuration1 was used in producing the following Ogma YouTube video:

Self Driving Car Learns Online and On-board on Raspberry Pi 3

Configuration3 appears in the first issue of the HackSpace magazine (December 2017), as a project on HackADay.io, and was used in producing the following Ogma YouTube video:

World's Smallest Self-Driving Car - a Raspberry Pi Zero on wheels..

As seen in the above video, an InfiniTrax "1080 BEAST" modular track was used with the uSDC.

A Unity based simulation OgmaDrive was used to prototype the SDC, using C# scripts and the EOgmaNeo library.


  • Steam Controller with wireless dongle


  • Traxxas Rustler RC car
  • Raspberry Pi3
  • Pi Camera v2
  • Pi Camera case
  • Active cooling case "Eleduino Raspberry Pi 3 and Raspberry Pi 2 Model B Acrylic Case with High Quality Mini Fan"
  • 2 pcs 18650 batteries with battery pack (for powering the steering servo)
  • Arduino UNO
  • Breadboard
  • Anker PowerCore 10000 (for powering the Pi)
  • Using fast event-based version of EOgmaNeo + OpenCV's Canny Edge + PySerial (for Arduino communication)

RF Version Extra:

  • Pi-Top with Raspberry Pi 3
  • Arduino UNO (or Leonardo, USB to RPi)
  • RF Transmitter/Receiver Modules "Makerfocus 2pcs Wireless Module NRF24L01+PA+LNA in Antistatic Foam Arduino Compatible with Antenna"


Base station, for limited communication with the SDC:

  • Pi-Top
  • Raspberry Pi3
  • Arduino UNO (or Leonardo, USB to RPi)
  • XBee Arduino shield (v1.0 or modified v1.3)
  • XBee Pro (S1, with u.fl antenna)


  • Traxxas Rustler RC car (optional clear body)
  • Raspberry Pi3
  • Raspberry Camera (mounted to front bumper)
  • Pimoroni Pibow case
  • Freetronics PiLeven (i2c to RPi, UART to XBee)
  • XBee Arduino shield (v1.0 or modified v1.3)
  • XBee Pro (S1, u.fl antenna)
  • Power Bank (to PiLeven or RPi)
  • Servo pass-through connector (attached to PiLeven)


  • Steam Controller with wireless dongle
  • InfiniTrax modular track system (optional)


  • 3D Printed base, RPi ZeroW mount, and camera mount
  • Raspberry Pi ZeroW
  • Pimoroni Explorer pHAT (motor drivers)
  • Pololu 136:1 sub-micro planetary gearmotors, wheels, and front ball caster
  • Adafruit Lithium Ion Polymer Battery, with a PowerBoost and charger module
  • SainSmart wide angle camera

License and Copyright

Creative Commons License
The work in this repository is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License. See the EOGMADRIVE_LICENSE.md and LICENSE.md files for further information.

Contact Ogma via licenses@ogmacorp.com to discuss commercial use and licensing options.

EOgmaDrive Copyright (c) 2017 Ogma Intelligent Systems Corp. All rights reserved.