SEA:ME Pi Racer

Table of Contents

• Assemble Pi Racer
• Setup Raspberry Pi
  • Write Image on Raspberry Pi
  • Enable SSH
  • Find and Connect Raspberry Pi
  • Install and Set up Environment
• Create car application
• Control car using by Web Controller
• Control car using by Gamepad
• Display OLED panel
• Tips
• Errors

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Assemble Pi Racer

• Assemble the Pi-Racer following to the pdf
  • Pi-Racer Wiki
  • Pi-Racer Pro AI Kit Tutorial pdf

Important Point

1. When connect motor & servo, attention to the connection
2. Connect right direction the Camera

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Set up Raspberry Pi

Write Image on Raspberry Pi

Install Raspberry Pi imager for set up Raspberry Pi

• Download Imager in link
  • Follow OS specific guide

Download Image file

• Click this link
  

Write downloaded Image on SD card

• Operating System -> Downloaded image
• SD Card -> Your own SD card for Raspberry Pi

Enable SSH & Setting WIFI

• Check Enable SSH
• Check Set username and password
  • Username is server's name
  • Password is server's password
  • Remember this. It needs when connect Raspberry Pi server & PC

• Check Configure wireless LAN

  • Enter the Wi-Fi or LAN information you are using on the PC you are connecting to

• Setting done. Write the Image

Enable SSH

• Write finish and Move to /boot directory
• Enter the command touch ssh or touch /Volume/boot/ssh
  • Second one only work in Linux or Mac

Find & Connect Raspberry Pi

1st. Use monitor

1. Connect monitor with Raspberry Pi
2. Command ifconfig & check IP_ADDRESS
3. Command ssh -Y {SERVER_NAME}@{IP_ADDRESS}

2nd. Use nmap

1. nmap -sn {IP_ADDRESS}.0/24
   • ex) nmap -sn 192.168.2.0/24 -> Change last number to 0 or *
2. Find Raspberry Pi's IP_ADDRESS
3. Command ssh -Y {SERVER_NAME}@{IP_ADDRESS}

If there are many devices connected to the router, check the Raspberry Pie by turning it off and on

3rd. Make a wild guess

• Raspberry Pie IP is caught similar to a PC

But I don't recommend it. It's not like a programmer.

Install & Set up Environment

• Follow Step.6 to Step.12

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Create Car Application

Create donkeycar from template

• Create a set of files to control your Donkey with this command
  • donkey createcar --path ~/mycar
  • You can also change your path something else instead of "mycar"

Configure I2C PCA9685

• It's only for Raspberry Pi

• sudo apt-get install -y i2c-tools -> install i2c-tools

• sudo i2cdetect -y 1 -> check your car

  
  • If you can't see 40
    1. On Pi, ensure I2C is enable in menu of sudo raspi-config
       • It suggest reboot
    2. Check your hardwear
       • Maybe your cable or Something wrong

Control with Web Controller & Gamepad

Control using by Web Controller

• In terminal, follow commands

  pi@raspberrypi:~$ source ~/env/bin/activate
  (env) pi@raspberrypi:~$ cd mycar/
  (env) pi@raspberrypi:~/mycar$ python manage.py drive
  

• Open Chrome in host pc. Go to http://{RASPBERRY_PI_IP_ADDRESS}:8887
• Reference Link

Control using by Gamepad

• Connect the USB adapter of Gamepad to Raspberry Pi
• In terminal, follow commands

  pi@raspberrypi:~$ source ~/env/bin/activate
  (env) pi@raspberrypi:~$ cd mycar/
  (env) pi@raspberrypi:~/mycar$ python manage.py drive --js
  

Way to use Gamepad

1. Use --js option
   • Run donkeycar with this command
     python manage.py drive --js
2. Modify myconfig.py file
   • Find USE_JOYSTICK_AS_DEFAULT
   • Modify False to True
     USE_JOYSTICK_AS_DEFAULT = True

Display OLED pannel

Enable display in myconfig.py

• Find line USE_SSD1306_128_32 removing #
• Find line SSD1306_RESOLUTION removing #
• example
  

Tips

When you need to re-install Raspberry Pi

• It should be occur this message
• follow this code to reset ssh-key
  • ssh-keygen -R {IP_ADDRESS}
  • IP_ADDRESS => Raspberry Pi's IP address

Errors

• Gamepad work different way

• 7 & 8 is changed
• Left and Right -> Left is forward and Right is backward
• Front and Rear -> Front is right and Read is Left