robocar

DIY Robocar with RaspberryPi and Pi Camera

Hardware

• Raspberry Pi 3 Model B/B+
• Adafruit DC & Stepper Motor HAT for Raspberry Pi

Software

• Raspbian Stretch
• ROS Kinetic
• Adafruit drivers

Function: Teleops

Using an XBox game controller to control robocar. XBox Controller configuration: * Right trigger (axes 5): forward * Left trigger (axes 2): reverse/brake * Left joy-stick (axes 0): steer

catkin_make
source devel/setup.bash
roslaunch launch/dbw.launch

Function: Preset Drive Commands (Blind)

Using pre-saved drive command (throttle,steer,duration) to drive robocar.

catkin_make
source devel/setup.bash
roslaunch launch/blindmove.launch

Note: Edit src/blindmove/launch/drivecommands.csv with one drive command per line in the following format: * throttle(-1.0:1.0), steer(-1.0:1.0), duration(sec)

Function: Camera Control Driving

Using camera input to calculate drive commands.

catkin_make
source devel/setup.bash
roslaunch launch/cam.launch

Note: Work-in-progress (5/10/2018)