pyCyberCar
CyberCar driver on Raspberry Pi 3 in Python 2.
The project includes a driver for CyberCar and a visualization tool cybercar.html.
CyberCar is made from FREESCALE Type B. We use Raspberry Pi 3B+ as a controller. Then we added a CSI camera, a S-D5 servo motor, a 540 DC motor and other DC-DC modules. It can perform several image processing experiments and can work with many extensions.
本工程包括使用python2编写的智能小车CyberCar驱动pyCyberCar以及配套的可视化网页cybercar.html。
CyberCar是在飞思卡尔B型车基础上，添加树莓派3B+作为上位机的改造型。全车搭载CSI摄像头，S-D5舵机，540直流电机以及相关电源模块，可以执行多种图像处理实验。而且支持多种模块的拓展。
Dependence
- RPi.GPIO: To output PWM (输出控制信号)
- nrf24pihub: To drive NRF24L01+ module (驱动2.4G通讯模块NRF24L01+)
- OpenCV: To process images from camera (处理图像)
- simple-websocket-server: To push data to the viewer (使用websockt推送数据)
- bootstarp: To build CyberCar Viewer's framework (用于搭建CyberCar Viewer)
- echarts: To draw line charts (用来绘制折线统计图)
Usage
- Run the car's server first (-d: debug mode):
python run_server.py
- Open another terminal
- (For OpenCV user) Edit dip.py, then run run_cybercar.py(-f: show fps | -mp: using multi-processing pool):
python run_cybercar.py
OR
- (For NRF24 user) Run the nrf24 receiver:
python run_nrf24.py
使用方法
- 运行底层服务器run_server.py(-d: 打开debug模式):
python run_server.py
- 打开另一个控制台窗口
- (使用OpenCV控制) 编辑dip.py以设计图像处理算法，然后运行run_cybercar.py(-f: 显示fps | -mp: 使用进程池处理图像):
python run_cybercar.py
或者
- (使用2.4G遥控) 运行nrf24接收模块:
python run_nrf24.py
请参加“数字图像处理基础”的同学注意:
为了方便代码评阅，建议只修改 dip.py 和 config.py 两个文件，最后使用git提交代码。
Developer
- Yue ZHOU, A.P. Department of Automation, Shanghai Jiao Tong University.
- Xiang LI, MEng Department of Automation, Shanghai Jiao Tong University.
- Shuo SHAN, MEng Department of Automation, Shanghai Jiao Tong University.
Contact me
- Email: lostxine@gmail.com
- Address: Room 2#302B, SEIEE Building, 800 DongchuanRd., Shanghai, PR China (200240)