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test/rest_api
AppCtrl.py
ClassifyCtrl.py
DistCtrl.py
DnnDetectCtrl.py
FollowLineCtrl.py
HaarDetectCtrl.py
MTFollowLineCtrl.py
MTWalkCtrl.py
MotorCtrl.py
PCA9685.py
PCA9685_license.txt
PhotoCtrl.py
PiConf.py
README.md
WalkCtrl.py
app.py
cam.py
classify.py
detect.py
dnn_detect.py
geom_util.py
label_map_util.py
motor.py
roi.py
stand.py
string_int_label_map_pb2.py
tf_labels.py
tf_walk.py
track_conf.py
track_cv.py
ultradist.py
walk_conf.py

README.md

PiTanq

PiTanq is a home tank built with open source hardware and powered by Raspberry Pi.

Its primary purpose is to help learning AI for vehicles like self-driving, mapping, location.

Also it is a nice toy.

PiTanq image

Hardware

PiTanq is based on an aluminum chassis (the motors are included).

The motors are controlled by L298N bridge.

Raspberry Pi 3 with Raspbian Jessie is a brain.

The tank equiped with 5MP PiCamera.

The camera mounted on pan-and-tilt stand managed by Raspberry via PWM controller.

The power comes from 2x1850 batteries.

Also there is an ultrasonic distance meter.

Software

Raspbian Jessie runs on the Raspberry.

Python service (from this repo) controls the whole tank via REST interface.

  • GET /ping

  • GET /version

  • GET /name

  • GET /dist

  • POST /fwd/on

  • POST /fwd/off

  • POST /back/on

  • POST /back/off

  • POST /left/on

  • POST /left/off

  • POST /right/on

  • POST /right/off

  • POST /photo/make

  • GET /photo/:phid

  • GET /photo/list

  • POST /cam/up

  • POST /cam/down

  • POST /cam/right

  • POST /cam/left

  • POST /detect/haar/:phid

  • POST /detect/dnn/:phid

  • POST /classify/tf/:phid

  • POST /motor/:mode

  • POST /follow/start

  • POST /follow/stop

  • POST /follow/prepare

  • GET /follow/id

  • GET /follow/photo

  • GET /photo/track/:track_id/:ph_id

This service uses AI frameworks:

And third-party driver for PWM controller from SunFounder

Phone application

There is an android application to control the tank. Whenever I will learn IOS then an Apple app will be available. Not now.

Tank

More info about the tank at the product website