/Pilot-Project-1

SEA:ME Pilot Program 2022 - Project 1

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Pilot Project 1 - PiRacer

Please find the subject file in subject folder.

Table of contents

  • Assemble PiRacer
  • RasberryPi Setup
  • PiRacer Setup

Assemble PiRacer

Use Racer AI Kit of WAVESHARE to assemble your PiRacer.
Carefully go through the instruction using PDF.
On Step 5 go to Rasberry Setup topic and PiRacer Setup.
After these steps done finish an assemble

RasberryPi Setup

Step 1. Install operating Systems

  1. Install Putty
  2. Download Raspian Legacy
  3. Install on your computer. As a result while launching you should see image (below)

  4. Download RasberryPi Imager
  5. Connect you SD card to your computer (laptop)
  6. Change Operating System from step 4 (Image below)

  7. Change advanced options to connect WIFI (ask for relevant WiFi Settings your peers)

  8. Click WRITE to Download Rasberri Pi on SD card
  9. Move to /boot directory
  10. Enter command touch ssh
  11. Insert your SD card to PiRacer
  12. Connect to monitor
  13. Find IP of your Car (Image below)

Step 2. Connecting to the Pi

  1. Connect IP of PiRacer to computer(laptop) with Putty using IP of PiRacer from previous step

  2. Connect to Pi
    • login: audi
    • password: seame2022

Step 3. Update and Upgrade

sudo apt-get update --allow-releaseinfo-change
sudo apt-get upgrade

Step 4. Raspi-config 


sudo raspi-config
  • change default passward and login for Pi (as you wish)
  • change hostname (as you wish)
  • enable Interfacing Options - I2C
  • enable Interfacing Options - Camera
  • enable Interfacing Options - SSH
  • enable Advanced Options - Expand Filesystem so you can use your whole SD card storage
  • Advanced options-GL Driver-G2 GL (Fake KMS)
  • Choose <Finish> and Reboot to complete Raspi-config

Step 5. Install Dependencies

sudo apt-get install build-essential python3 python3-dev python3-pip python3-virtualenv python3-numpy python3-picamera python3-pandas python3-rpi.gpio i2c-tools avahi-utils joystick libopenjp2-7-dev libtiff5-dev gfortran libatlas-base-dev libopenblas-dev libhdf5-serial-dev libgeos-dev git ntp

Step 6. Install OpenCV Dependencies

sudo apt-get install libilmbase-dev libopenexr-dev libgstreamer1.0-dev libjasper-dev libwebp-dev libatlas-base-dev libavcodec-dev libavformat-dev libswscale-dev libqtgui4 libqt4-test

Step 7. Setup Virtual Env

python3 -m virtualenv -p python3 env --system-site-packages
echo "source ~/env/bin/activate" >> ~/.bashrc
source ~/.bashrc

Step 8. Install Donkeycar Python Code

  1. Create Directory
cd ~
mkdir projects
cd projects
  1. Get the latest donkeycar from Github
git clone https://github.com/autorope/donkeycar
cd donkeycar
git checkout main
pip install -e .[pi]
pip install https://github.com/lhelontra/tensorflow-on-arm/releases/download/v2.2.0/tensorflow-2.2.0-cp37-none-linux_armv7l.whl
  1. Validate tensorflow install
python -c "import tensorflow; print(tensorflow.__version__)"

Step 9. Install Open CV

  1. Install OpenCV
sudo apt install python3-opencv
# if failed
# pip install opencv-python
  1. Test to see if import succeeds
python -c "import cv2"
# if no errors, you have OpenCV installed

Step 10. Install Service of OLED Display

cd ~
git clone https://github.com/waveshare/pi-display
cd pi-display
sudo ./install.sh

sudo pip3 install flask

cd pidisplay
python display_server.py

if you have problems

# Change from .utils -> from utils
sudo nano display_server.py
sudo reboot

PiRacer Setup

Create Donkeycar from Template

  1. Connect PiRacer by SSH
donkey createcar --path ~/mycar
  1. Configure I2C PCA9685 ( servo driver board )
sudo apt-get install -y i2c-tools
sudo i2cdetect -y 1
  • If Pi doesn’t display like below, exchange your PiRacer expansion board
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- 3c -- -- -- 
40: 40 -- 42 -- -- -- -- -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
70: 70 -- -- -- -- -- -- --

Web Control

  1. Open Raspberry Pi terminal and run the follow commands
source ~/env/bin/activate
cd ~/mycar
python manage.py drive
  1. Go to http://<raspberrypi_ip_address>:8887
  • You can use your mouse and Joystick to control PiRacer

Calibrate DonkeyCar

  1. Adjust the value to make the servo turns to the center place and remember the value ( In our case, 380 was center )
cd ~/mycar
donkey calibrate --channel 0 --bus=1
  1. Test if 280, and 480 can let the servo turns to the far left and the far right
  2. Modify the config.py file and change variables
sudo nano config.py
# Change values
# STEERING_LEFT_PWM = 480
# STEERING_RIGHT_PWM = 280
# THROTTLE_FORWARD_PWM = 500
# THROTTLE_STOPPED_PWM = 370
# THROTTLE_REVERSE_PWM = 220

Gamepad Input mapping

  1. Connect GamePad with PiRacer
  2. Create joystick creator wizard
cd ~/mycar
donkey createjs
  1. To map button, axis, control follow instructions on the screeb

    In mapping steps of steering and throttle, you should set in opposite direction ( For example, If you want to throttle Left Stick: Vertical, you need to register Right Stick: Horizontal in the throttle step )
  2. Change configuration
cd ~/mycar
sudo nano config.py
# USE_JOYSTICK_AS_DEFAULT = True
# JOYSTICK_DEVICE_FIL = "/dev/input/js0"
# CONTROLLER_TYPE = 'custom'

# test with gamepad
python manage.py drive --js