Self Driving RC Car/2020

Videos

Presentation

Source Code

Parts List

Assembly

Raspberry

Installation

Deployment

First Experiments

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• https://github.com/rc-dukes/dukes

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

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Parts-List as Excel File

#	picture	part	example sources	documents	~ price
1		1:10 RC Car chassis	1:10 elektro tourenwagen chassis ARR TAMIYA 57986" 1:10 RC TT-02-Chassis First Try On-Road	de/en/fr/nl Tamiya 57986	70 €
2		Speed Control	Modelcraft Carbon Series Speed Control "20 Turns"	de/en/fr/nl	21 €
3		RC-Car servo	RC-Car servo 4519 Carson 500502036 - Servo CS-6 - 6 kg/JR-Stecker	de/en	10 €
4			TopFuel LiPo 25C-ECO-X 1300mAh 3S  NiMH 7.2V 3500 mAh		16 €
5		Battery Charger	Ansmann NiMH 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 €
				Total	199 €
a		Breadbord Kit	MB102 Breadbord Kit		7 €
b		Ulrasound Sensor	5 x HC-SR04 + Cables		10 €

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DCC-DCC converter

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.

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Camera mount

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Servo and LED

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For a start a 3D Printed case for the Raspberry PI was used:

https://cdn.thingiverse.com/renders/c4/f0/15/73/67/2094b280ac54121f9dad5fc172b1a3eb_preview_featured.jpg https://cdn.thingiverse.com/renders/1b/80/70/b5/5a/081727802f13879a77f4b8bfbd0277d1_preview_featured.jpg

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Raspbian

Raspbian Stretch with desktop and recommended software

1. Download Zip File from https://www.raspberrypi.org/downloads/raspbian/
2. Create SD Card as described in https://www.raspberrypi.org/documentation/installation/installing-images/
3. Insert SD Card into Raspberry PI
4. Connect Keyboard, Mouse, HDMI-Monitor and 5 Volt Mini USB (2.5 Amps recommended)
5. Setup Country, pi user password etc. and connect to your WIFI network - after the setup you'll be asked to restart your pi

WebCam Interface

• https://github.com/silvanmelchior/RPi_Cam_Web_Interface

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

http://<yourpi>/html should show the cam interface:

Servo Interface - Servoblaster

• https://github.com/richardghirst/PiBits/tree/master/ServoBlaster
• https://github.com/srcshelton/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

OpenJDK

sudo apt-get install openjdk-8-jdk

Screen

sudo apt-get install screen

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Deploying to your Raspberry is done by compiling e.g. on a laptop and then transferring the results to your PI.

You need to configure your targetHost and targetUser in a file ~/dukes/dukes.ini

Example Configuration

#
# rc-dukes configuration file
# see https://github.com/rc-dukes/dukes
#
targetHost=10.9.8.7
targetUser=pi

The deploy script as a help option that shows how it can be used:

./deploy.sh -h
deploy.sh [-d|-h|-m|-s]

  -d |--debug             : debug this script
  -m |--maven             : run maven install
  -h |--help              : show this usage
  -s |--start             : deploy and start duke-farm 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

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1. Ultrasonic Sensor
2. SG90-Servo
3. Raspberry PI Camera
4. Raspberry PWM LED Control