Self Driving RC Car
- Open Source
- Source Code
- Parts List
- PI Installation
- Server Installation
- First Experiments
In the javadoc apidocs you'll also find generated uml-diagrams like this one: https://rc-dukes.github.io/dukes/dukes/apidocs/nl/vaneijndhoven/daisy/package.svg
|#||picture||part||example sources||documents||~ price|
|1||1:10 RC Car chassis||70 €|
|2||Speed Control||Modelcraft Carbon Series Speed Control "20 Turns"||de/en/fr/nl||21 €|
|3||RC-Car servo||de/en||10 €|
|5||Battery Charger||27 €|
|6||Raspberry PI 3 B+||Raspberry PI 3 B+||en||35 €|
|7||microSD Card||SanDisk 16 GB||7 €|
|8||Raspberry PI Camera||1080 p Camera Module||23 €|
|9||DC/DC Converter 12 V-> 5V||12 V->5 V Converter Module||7 €|
|10||Micro USB Connector||Delock USB 2.0 Micro USB||6 €|
|a||Breadbord Kit||MB102 Breadbord Kit||7 €|
|b||Ulrasound Sensor||5 x HC-SR04 + Cables||10 €|
To run the Raspberry PI from the 7.4 Volt Battery of the car the DC-DC converter has to be soldered into the voltage supply chain. You might want to select a converter with enough power for your usecase
15 Watt 3 A
This configuration works if you only want to run a Raspberry PI and directly control the motor and steering servos of the RC car.
25 Watt 5 A
Servo and LED
For a start a 3D Printed case for the Raspberry PI was used:
see Raspberry PI
cd /usr/local/src sudo git clone https://github.com/silvanmelchior/RPi_Cam_Web_Interface.git cd RPi_Cam_Web_Interface/ ./install.sh
In case of error
A message like:
#mmal: mmal_component_create_core: could not create component 'vc.ril.camera' (1) sh: 1: /var/www/html/macros/error_hard.sh: Permission denied
Indicates that you might have a cabling problem.
In case of success
Servo Interface - Servoblaster
wf@pibee:~ $ cd /usr/local/src wf@pibee:/usr/local/src $ sudo git clone https://github.com/srcshelton/servoblaster cd servoblaster sudo make install sudo reboot
sudo apt-get install openjdk-8-jdk
sudo apt-get install screen
- Mac OS 10.13.6 High Sierra with macports 2.5.4
- Ubuntu 18.04.2 LTS
see also OpenCV
If you'd like to generally use OpenCV you can get it e.g. from the macports project:
sudo port install opencv +java ls /opt/local/share/OpenCV/java libopencv_java343.dylib opencv-343.jar
For your convenience you'll find these two files in the lib directory.
- install5 in opencvubuntu has the commands for MacOS - but does not work even if you install dpkg with
sudo port install dpkg
You might want to use scripts/opencvubuntu to download the 75 MByte libopencv_java343.so and install the backports libjasper libraries that are not published with Ubuntu 18 by default. You'll find some other links in the script that might also give you hints on how to proceed if you have another environment or different needs. You might want to create an Issue if you run into trouble.
Help Wanted -please file an issue if you want to try to get things running on Windows.
Deploying to your Raspberry is done by compiling e.g. on a laptop and then transferring the results to your PI.
There is a usage for this script if you call it with scripts/install.sh -h. Essentially this is doing a mvn clean install. The clean part is important to get the platform specific native openCV Library integrated into the server code.
You need to configure your PI's host address and user in a file ~/dukes/dukes.ini in the remotecar section. Also you need to check your GPIO pins and the servo settings for your car for LED,Engine and Wheels. You might want to try these things out before using the software the first time.
The original wiring is:
- MOTOR: GPIO-17 - Servoblaster ID 1
- WHEEL: GPIO-18 - Servoblaster ID 2
- LED: GPIO-24 - Servolbaster ID 6
The software uses the standard Servoblaster ID's above which are hard-coded at this time. The GPIO configuration will only work with other devices which we intend to support in the future.
# # WF 2019-06-21 # # rc-duke configuration file # remote car raspberry PI configuration remotecar.host=picaro remotecar.user=wf # camera url format camera.url=http://picaro/html/cam_pic_new.php # webserver configuration webcontrol.port=8080 imageview.port=8081 # watchdog # how often to send a heart beat in milliseconds watchdog.heartbeat.interval.ms=150 # how many beats may be missed before remote car is forced to stop watchdog.max.missed.beats=6 # use servoblaster as servo control servo.command=servoblaster # be careful with your GPIO configuration # you might damage your PI with a misconfiguration! # led configuration led.gpio=24 led.on=250 led.off=0 # wheel configuration wheel.gpio=18 # positive - higher values mean go right wheel.orientation=+ wheel.center=144 wheel.stepsize=1 wheel.max.left=115 wheel.max.left.angle=-18.0 wheel.max.right=158 wheel.max.right.angle=14 # engine configuration engine.gpio=17 # positive - higher values means going quicker engine.orientation=+ engine.speed.zero=130 engine.stepsize=1 engine.min.speed.reverse=127 engine.max.speed.reverse=122 engine.min.speed.forward=133 engine.max.speed.forward=138 engine.max.velocity.reverse=-1.0 engine.min.velocity.reverse=-0.5 engine.min.velocity.forward=0.23 engine.max.velocity.forward=1.0
The deploy script as a help option that shows how it can be used:
deploy.sh [-a|-d|-h|-m|-s] -a |--autostart : configure the remotecar app to autostart on reboot -d |--debug : debug this script -m |--maven : run maven install -h |--help : show this usage -s |--start : deploy and start remotecar (duke) fat jar
- deploy -m will create the duke-farm fat jar
- deploy -s will send the jar to your PI using rsync and start it
- deploy -a will create an autostart configuration that restarts the client on reboot see https://github.com/rc-dukes/dukes/issues/26
Running the server
- start 'CarServer' in module 'rc-server' in IDE - point your browser to http://localhost:8080
Creating a fatjar of the server
../scripts/install.sh -h usage: install.sh [-d|-f|-j|-q]* [-h]? -d |--debug : debug this script -f |--fatjar : create a fat jar -j |--javadoc : with javadoc (default is without) -q |--quick : no tests, no javadoc -h |--help : show this usage
From the rc-server directory ../scripts/install.sh -f -q should create a fat jar with the maven assembly-plugin
java -jar target/rc-server-0.0.2-jar-with-dependencies.jar
(Please replace 0.0.2 with the current version of the project)
Should then start the server and the web ui should be available by either using
http://localhost:8080 or using the index.html file or detect.html files from the sources in rc-webcontrol/src/main/resources/web/
Starting all together
The start script will let you pick the components you'd like to start.
scripts/start -h start [-d|-h] -a |--all : run all parts of the software -c |--car : run car software on pi -s |--server : run server software -r |--remote : point webbrowser to remot control -w |--web : point webbrowser to detect.html -d |--debug : debug this script -h |--help : show this usage
So scripts/start -a will start
- the car software on the pi
- the server software e.g. on you laptop
- point your webrowser to the detect.html page (after waiting for the page to get available)
These are just some experiments with the Raspberry PI, Ultrasonic Sensors and Servos that might you get warmed up for the real challenge of getting your 1:10 RC self driving car going. You don't need to go thru all theses experiments. The basic car only uses the camera and two servos and no ultrasonic sensors.
Author: Wolfgang Fahl