load PDF
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
Parts-List as Excel File
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.
For a start a 3D Printed case for the Raspberry PI was used:
Raspbian Stretch with desktop and recommended software
cd /usr/local/src sudo git clone https://github.com/silvanmelchior/RPi_Cam_Web_Interface.git cd RPi_Cam_Web_Interface/ ./install.sh
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.
http://<yourpi>/html should show the cam interface:
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
Tested on
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.
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 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.
scripts/install.sh
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:
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=2.0.0.111 remotecar.user=wf # camera url format camera.url=http://2.0.0.111/html/cam_pic_new.php # webserver configuration webcontrol.port=8080 imageview.port=8081 # 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 wheel.center=130 wheel.stepsize=5 wheel.maxleft=100 wheel.maxright=160 # engine configuration engine.gpio=17 engine.speed.zero=130 engine.stepsize=1 engine.min.speed.reverse=130 engine.max.speed.reverse=130 engine.min.speed.forward=155 engine.max.speed.forward=157
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
- start 'CarServer' in module 'rc-server' in IDE - point your browser to http://localhost:8080