EP-0109
DockerPi DIY Programmable intelligent toycar
Description
DockerPi DIY Programmable intelligent toycar is based on DockerPi Motor Board(A) and DockerPi Power Board.You could DIY it's appearance and power.
Of course,if you want to get started directly,we also provide the power board and Arcylic board for you.We offer several packages to you.The DockerPi
Power Board could provide powerful power for the car.You could choose to design its appearance by yourself.Besides,you could connect the camera module
to achieve the function of identifying objects.The following we will show you how to use the keyboard to control the car by pygame.
Features
- DockerPi Series
- Programmable
- Intelligent toycar
- Easy to control
- DIY
- Selective control
Official Compatibility Test
Not only support the following development boards, other development boards can be compatible if they have I2C peripherals. (Note: some software changes may be required)
Platform | DockerPi Power | Notes |
---|---|---|
Raspberry Pi All Platform | √ | Not Include CM Series & EOL Platform |
Gallery
Package Includes
- 1 x Battery case
- 1 x Motor Board
- 1 x Power Board
Announcements
- Please turn off the power when you connect it!
- DockerPi Series Board does not support hot plug
How to assemble
Configuring I2C(Raspberry Pi)
- Run sudo raspi-config and follow the prompts to install i2c support for the ARM core and linux kernel
- Go to Interfacing Options
then I2C
Enable!
Done!
How to use
Software environment
First you need prepare a TF card to burn the raspbian.You can download the system from the official website.
When you finished this,please connect it by ssh.
- First,please open the function of wireless function.Execute the following command:
sudo vim /etc/wpa_supplicant/wpa_supplicant.conf
- Please configure your wireless
- Then you need install the python3's module pygame
sudo apt-get -y install python3-pygame
- You also need to install python3's smbus
sudo apt-get -y install python3-smbus
- Please open the RaspberryPi's I2C
- You could install the following script to achieve the safeshut down function.
wget -qO- https://git.io/fj3b9 | sudo bash
Hardware environment
Codes
- Create a new file and named:toycar.py and paste following codes:
import pygame import sys import smbus import time #MOTOR_DRIVER Address MOTOR_DRIVER_ADDRESS = 0x18 MOTOR_DRIVER_BUS = 1 bus = smbus.SMBus(MOTOR_DRIVER_BUS) #MOTOR_DRIVER Functions MOTOR_DRIVER_SPEED_1_L = 0x01 MOTOR_DRIVER_SPEED_1_H = 0x02 MOTOR_DRIVER_SPEED_2_L = 0x03 MOTOR_DRIVER_SPEED_2_H = 0x04 MOTOR_DRIVER_COUNT_1_L = 0x05 MOTOR_DRIVER_COUNT_1_H = 0x06 MOTOR_DRIVER_COUNT_2_L = 0x07 MOTOR_DRIVER_COUNT_2_H = 0x08 MOTOR_DRIVER_DIRECTION = 0x09 MOTOR_DRIVER_SPEED_NOW_1_L = 0x0a MOTOR_DRIVER_SPEED_NOW_1_H = 0x0b MOTOR_DRIVER_SPEED_NOW_2_L = 0x0c MOTOR_DRIVER_SPEED_NOW_2_H = 0x0d MOTOR_DRIVER_COUNT_NOW_1_L = 0x0e MOTOR_DRIVER_COUNT_NOW_1_H = 0x0f MOTOR_DRIVER_COUNT_NOW_2_L = 0x10 MOTOR_DRIVER_COUNT_NOW_2_H = 0x11 MOTOR_DRIVER_DIRECTION_NOW = 0x12 MOTOR_DRIVER_ENABLE = 0x13 MOTOR_DRIVER_MODE = 0X14 MOTOR_DRIVER_PWM_NOW_2_L = 0x1f MOTOR_DRIVER_PWM_NOW_2_H = 0x20 pygame.init() screen = pygame.display.set_mode((600, 400)) pygame.display.set_caption('pygame event') def setspeed(): bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_L,speed & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_H,speed >> 8) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_L,speed & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_H,speed >> 8) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1) def decspeed(): bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_L,temp1 & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_H,temp1 >> 8) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_L,temp1 & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_H,temp1 >> 8) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1) def turnleft(): temp0 = 200 bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_L,temp0 & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_H,((temp0 >> 8) | 0x80)) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_L,(temp0 -100) & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_H,((temp0 -100) >> 8) | 0x80) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1) def turnright(): temp0 = 200 bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_L,(temp0 - 100) & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_1_H,((temp0 - 100) >> 8) | 0x80) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_L,temp0 & 0xff) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_SPEED_2_H,((temp0 >> 8) | 0x80)) bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1) def setdirection(sysnax): bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_DIRECTION,sysnax) while True: for event in pygame.event.get(): if event.type == pygame.QUIT: sys.exit() list = [pygame.K_w,pygame.K_s,pygame.K_a,pygame.K_d] keys_pressed = pygame.key.get_pressed() if keys_pressed[list[0]]: print("w") speed = 200 while (speed < 300): speed += 10 setdirection(1) setspeed() if keys_pressed[list[2]]: print("a") turnleft() elif keys_pressed[list[3]]: print("d") turnright() elif keys_pressed[list[1]]: print("s") speed = 200 while (speed < 350): speed += 10 setdirection(2) setspeed() if keys_pressed[list[2]]: print("a") turnleft() elif keys_pressed[list[3]]: print("d") turnright() elif keys_pressed[list[2]]: print("a") turnleft() elif keys_pressed[list[3]]: print("d") turnright() else: temp1 = (bus.read_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_PWM_NOW_2_H) << 8) | (bus.read_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_PWM_NOW_2_L)) print(temp1) while (temp1 > 1): time.sleep(0.01) temp1 -= 1 decspeed() else: temp1 = 0 decspeed() pygame.display.update()
- Execute it!
sudo DISPLAY=:0.0 python3 toycar.py
- Plug the wireless keyboard receiver into the Raspberry Pi,then enjoy it!
FAQ
- Q: What speed can the car reach at the fastest?
A: It will be faster than your imagination,the max is 1300r/min.However, i suggest you don't do like this,it may damage the car.
- Q: Sometimes,the toycar is out of my control,what's wrong with it?
A: Maybe the raspberry pie's wireless signal is too weak.Also,this is related to your program.
- Q: Why i have executed the command:sudo halt,but the Raspberypi and Power Board's Led is still working?
A: Because you havn't installed the script about power.Please install it then have a try.
- Q: If i have ran the program and the raspberrypi is fine,i have reed the value of register of speed,but the car has't any response?
A: Please check the Power Board's power supply pin.It may be broken. Meantime,you may not plug the wireless keyboard receiver into the Raspberry Pi
Video
Keywords
DockerPi,DIY,toycar,intelligent,Programmable