Difference between revisions of "Self Driving RC Car/2020"
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<youtube>OL0vg1WmI6I</youtube> | <youtube>OL0vg1WmI6I</youtube> | ||
<youtube>YeUMtQyvZKM</youtube> | <youtube>YeUMtQyvZKM</youtube> | ||
| + | |||
= Presentation = | = Presentation = | ||
<pdf>https://www.doag.org/formes/pubfiles/11143501/2019-NN-Tim_van_Eijndhoven-Building_a_Self-driving_RC_Car-Praesentation.pdf</pdf> | <pdf>https://www.doag.org/formes/pubfiles/11143501/2019-NN-Tim_van_Eijndhoven-Building_a_Self-driving_RC_Car-Praesentation.pdf</pdf> | ||
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== DCC-DCC converter == | == 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 | 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. | + | 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. | ||
<gallery> | <gallery> | ||
File:RC_IMG_3116.JPG | File:RC_IMG_3116.JPG | ||
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File:RC_IMG_3122.JPG | File:RC_IMG_3122.JPG | ||
</gallery> | </gallery> | ||
| + | === 25 Watt 5 A === | ||
| + | This configuration is currently tried for running the servos over an Adafruit 16 channel servo controller and using extra servos. | ||
| + | [[File:DSC00011-parts.JPG|800px]] | ||
| + | [[File:DSC00016-connected.JPG|800px]] | ||
| + | |||
== Camera mount == | == Camera mount == | ||
<gallery> | <gallery> | ||
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= PI Installation = | = PI Installation = | ||
| + | see {{Link|target=Raspberry PI}} | ||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
== WebCam Interface == | == WebCam Interface == | ||
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# Ubuntu 18.04.2 LTS | # Ubuntu 18.04.2 LTS | ||
== OpenCV == | == OpenCV == | ||
| + | see also {{Link|target=OpenCV}} | ||
=== MacOS === | === MacOS === | ||
If you'd like to generally use OpenCV you can get it e.g. from the macports project: | If you'd like to generally use OpenCV you can get it e.g. from the macports project: | ||
| + | ==== MacPorts ==== | ||
<source lang='bash'> | <source lang='bash'> | ||
sudo port install opencv +java | sudo port install opencv +java | ||
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</source> | </source> | ||
For your convenience you'll find these two files in the lib directory. | For your convenience you'll find these two files in the lib directory. | ||
| + | ==== From Source ==== | ||
| + | # install5 in opencvubuntu has the commands for MacOS - but does not work even if you install dpkg with | ||
| + | <source lang='bash'> | ||
| + | sudo port install dpkg | ||
| + | </source> | ||
| + | |||
=== Ubuntu 18 === | === Ubuntu 18 === | ||
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 | 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. | 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. | ||
=== Windows === | === Windows === | ||
| − | Help Wanted -please file an issue if you want to things running on Windows. | + | Help Wanted -please file an issue if you want to try to get things running on Windows. |
| + | |||
= Deployment = | = Deployment = | ||
| + | |||
Deploying to your Raspberry is done by compiling e.g. on a laptop and then transferring | Deploying to your Raspberry is done by compiling e.g. on a laptop and then transferring | ||
the results to your PI. | the results to your PI. | ||
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There is a usage for this script if you call it with <nowiki>scripts/install.sh -h</nowiki>. | There is a usage for this script if you call it with <nowiki>scripts/install.sh -h</nowiki>. | ||
Essentially this is doing a <nowiki>mvn clean install</nowiki>. The clean part is important to get the platform specific native openCV Library integrated into the server code. | Essentially this is doing a <nowiki>mvn clean install</nowiki>. The clean part is important to get the platform specific native openCV Library integrated into the server code. | ||
| + | |||
| + | == Example Configuration == | ||
You need to configure your PI's host address and user in a file ~/dukes/dukes.ini in the remotecar section. | 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. | 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. | ||
<source lang='bash'> | <source lang='bash'> | ||
# | # | ||
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# rc-duke configuration file | # rc-duke configuration file | ||
# remote car raspberry PI configuration | # remote car raspberry PI configuration | ||
| − | remotecar.host= | + | remotecar.host=picaro |
remotecar.user=wf | remotecar.user=wf | ||
# camera url format | # camera url format | ||
| − | camera.url=http:// | + | camera.url=http://picaro/html/cam_pic_new.php |
# webserver configuration | # webserver configuration | ||
webcontrol.port=8080 | webcontrol.port=8080 | ||
imageview.port=8081 | 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 | # be careful with your GPIO configuration | ||
# you might damage your PI with a misconfiguration! | # you might damage your PI with a misconfiguration! | ||
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# wheel configuration | # wheel configuration | ||
wheel.gpio=18 | wheel.gpio=18 | ||
| − | wheel.center= | + | # positive - higher values mean go right |
| − | wheel.stepsize= | + | wheel.orientation=+ |
| − | wheel. | + | wheel.center=144 |
| − | wheel. | + | 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 configuration | ||
engine.gpio=17 | engine.gpio=17 | ||
| + | # positive - higher values means going quicker | ||
| + | engine.orientation=+ | ||
engine.speed.zero=130 | engine.speed.zero=130 | ||
engine.stepsize=1 | engine.stepsize=1 | ||
| − | engine.min.speed.reverse= | + | engine.min.speed.reverse=127 |
| − | engine.max.speed.reverse= | + | engine.max.speed.reverse=122 |
| − | engine.min.speed.forward= | + | engine.min.speed.forward=133 |
| − | engine.max.speed.forward= | + | 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 | ||
</source> | </source> | ||
The deploy script as a help option that shows how it can be used: | The deploy script as a help option that shows how it can be used: | ||
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- start 'CarServer' in module 'rc-server' in IDE | - start 'CarServer' in module 'rc-server' in IDE | ||
- point your browser to http://localhost:8080 | - point your browser to http://localhost:8080 | ||
| + | === Creating a fatjar of the server === | ||
| + | <source lang='bash'> | ||
| + | ../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 | ||
| + | </source> | ||
| + | From the rc-server directory <nowiki>../scripts/install.sh -f -q</nowiki> | ||
| + | should create a fat jar with the maven assembly-plugin | ||
| + | |||
| + | <source lang='bash'>java -jar target/rc-server-0.0.2-jar-with-dependencies.jar</source> | ||
| + | (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. | ||
| + | <source lang='bash'> | ||
| + | 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 | ||
| + | </source> | ||
| + | So <nowiki>scripts/start -a</nowiki> 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) | ||
= First Experiments = | = First Experiments = | ||
| + | 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. | ||
# {{Link|target=Ultrasonic Sensor}} | # {{Link|target=Ultrasonic Sensor}} | ||
# {{Link|target=SG90-Servo}} | # {{Link|target=SG90-Servo}} | ||
# {{Link|target=Raspberry PI Camera}} | # {{Link|target=Raspberry PI Camera}} | ||
# {{Link|target=Raspberry PWM LED Control}} | # {{Link|target=Raspberry PWM LED Control}} | ||
| + | # <youtube>2vAoOYF3m8U</youtube> | ||
| + | Author: {{Link|target=Wolfgang Fahl}} | ||
<headertabs/> | <headertabs/> | ||
| − | [[Category:Raspberry]] | + | [[Category:Raspberry]][[Category:Self Driving RC Car]][[Category:frontend]] |