bradparks / cycloid__description-self-racing-car-platform_line_following_ Goto Github PK

Self-racing robot using traffic cones to localize. Very much a work in progress.

Car is a Traxxas Rustler (not VXL), stock ESC, brushed Titan 12T motor, aftermarket 2S lipo battery.

This uses a pre-planned track, and doesn't have any tools for planning the track yet other than a bunch of ipython notebooks.

• Traxxas Rustler R2R
• Raspberry Pi 3
• Teensy 3.2
• MPU-9250 9-DoF IMU (about $3 on eBay)
• LM2596S DC-DC buck converter (about $1 on eBay)
• ILI9340 SPI 240x320 LCD display, via the fbtft device driver (about $7)
• Arducam OV5647 Raspberry Pi 3 camera with LS-40180 fisheye lens ($30)
• Custom PCB connecting everything together -- see hw/pcb/
• Wii U Pro controller (connected via bluetooth)

Besides the RC car, there are three 3D-printed parts to mount the camera to the front bumper support, a "base plate" which carries all the PCBs and a "servo plate" which holds the base plate to the servo bracket; see hw/scad/

Can be compiled on a host PC with a cross compiler (e.g. on macOS you can install this: https://www.jaredwolff.com/toolchains/) or on the Raspberry Pi itself.

If you want to build the code, clone with git clone --recursive https://github.com/a1k0n/cycloid in order to get the Raspberry Pi userland submodule (otherwise just run git submodule init and git submodule update).

Here's how I build it:

Once you have a raspberry pi cross compiler (see two paragraphs above), edit crosscompile.cmake to point to the correct compiler name / path, and do this:

$ mkdir build
$ cd build
$ cmake -DCMAKE_TOOLCHAIN_FILE=../crosscompile.cmake ../src -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ make -j4

The main executable will be in build/drive/drive; scp that to your raspberry pi on the car, pair a bluetooth joystick, and run it.