/Self-Driving-RC-Car

Primary LanguageRoff

Self Driving Car Project

alt text alt text

Description

To build the software infrastructure needed for:

  1. Controlling a car - Being able to remotely pilot a car via the web interface or a bluetooth controller
  2. Recording training data - Being able to record multiple video streams and sensors along with CAN data like wheel speed, steering angle, throttle, brake
  3. Replaying the training data - Having a quick and easy interface to replay the training data with all the video feeds and sensor data at a quick glance

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Progress so far

Controlling the Car

Right now, there are three options to control the car wirelessly

  1. Web interface - Works universally
  2. Bluetooth Controller - Hardcodded button values as of now
  3. Command Line Interface - Works universally

Recording training data

Training Data can be recorded and downloaded via the web interface. The data gets recorded to the 'web/training_data/' folder and is compressed into a zip file so it can be easily downloaded.

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Right now, it only records camera data for the primary Raspberry Pi camera along with throttle, steering and brake values The format of storage of this data is :

  • data_folder/
    • data.csv
    • player.py
    • images/
      • 1589202544.57268.jpg
      • 1589202545.33127.jpg ...
      • 1589203451.23581.jpg

Installation

This project requires a few python dependencies to run. Install the dependencies with

$ git clone https://github.com/AdityaNG/Self-Driving-RC-Car.git
$ cd Self-Driving-RC-Car.git/web
$ ./install.sh

Getting Started

alt text Wire up the Raspberry Pi to your motor controller as

  • Forawrd / Backward Pins
    • in1 = 27
    • in2 = 17
    • en = 22
  • Left / Right Pins
    • tin1 = 23
    • tin2 = 24
    • ten = 25

Clone this repo and start up the web interface

$ ./start.sh

The web interface should be available at http://device.ip:8080/ To stop the web interface, type

$ ./stop.sh

Development

Want to contribute? Great! We can get in touch at adityang5@gmail.com

Todos

  • Bluetooth
    • Add better bluetooth controller support
    • Remappable bluetooth controller
    • Add record, brake, features to bluetooth
    • Auto boot to bluetooth
    • Web interface to setup bluetooth controller
  • Add temperature monitoring support for motor, MCU, BMS, etc.
  • Add CAN Bus monitoring support
  • Measure dropped frames
  • Add support for general Linux systems

License

MIT

Free Software, Hell Yeah!