==UPS for Raspberry PI 4B/3B+/3B==
==Description==
==Caution==
'''Warning! '''
<pre>
This product belongs to the power supply device.
Please keep it out of the reach of children. Please strictly refer to the instructions for the UPS product. If the battery polarity is reversed, it will directly burn the power management chip of the device and even cause fire or personal injury. Do not add any Components by yourself, all accidental damage caused by the cause is at your own risk.
</pre>

==Features==
* LED remaining battery prompt
* Replaceable battery solution
* Support Raspberry Pi 4B
* Extended Two USBA port power output
* Extended type C port power output
* Output overcurrent protection
* Tap to boot, long press to shut down
* Support the charge and discharge power display
* The battery holder can be quickly replaced
* Synchronous switch charge and discharge
* Built-in power path management, support side-loading
* Support load high current line compensation function
* Adaptive charge current regulation to match all adapters
* Support LED power display
* Button boot
* Automatically detect phone insertion and removal
* Low power consumption
* Intelligent identification of load, automatic standby
* Multiple protection, high reliability
* Output overcurrent, overvoltage, short circuit protection
* Input overvoltage, overcharge, overdischarge, overcurrent discharge protection
* Machine over temperature protection

==Gallery==
==Mechanical Drawing==
[[File:UPS 1.png|left|500px]]
 

==How to setup==
==LED light status definition==
* Discharge Status
{| class="wikitable"
!Power C(%) !! LED1 !! LED2 !! LED3 !! LED4
|-
| C >= 75% || ON || ON || ON || ON
|-
| 50% <= C <75% || ON || ON || ON || OFF
|-
| 25% <= C <50% || ON || ON || OFF || OFF
|-
| 3% <= C < 25% || ON || OFF || OFF || OFF
|-
| 0% <= C < 3% || 1.5Hz Blink || OFF || OFF || OFF
|}

* Charging Status
{| class="wikitable"
!Power C(%) !! LED1 !! LED2 !! LED3 !! LED4
|-
| 100% || ON || ON || ON || ON
|-
| 75% <= C|| ON || ON || ON || 1.5Hz Blink
|-
| 50% <= C <75% || ON || ON || 1.5Hz Blink || OFF
|-
| 25% <= C < 50% || ON || 1.5Hz Blink || OFF || OFF
|-
| C < 25% || 1.5Hz Shining || OFF || OFF || OFF
|}

==Package includes==
* 1* UPS for Raspberry Pi 4B/3B+/3B
* 4* M2.5* copper stick
* 4* M2.5 screws
* 4* M2.5* long copper stick
* 4* M2.5 nuts
* 1* Acrylic shield
* 1* Instuctions

==FAQ==
* Q: Why i press the button,the UPS Board works for seconds then turn off?
A: May it feels hungry,I think it should be charged.

==Keywords==
* battery, 18650, lipo battery, UPS, current, power supply,raspberrypi 4B

EP-0114

2019-10-09T08:52:31Z

2019-10-08T07:57:37Z

Dre: /* Package Includes */

K-0403

2019-10-08T07:55:36Z

Dre: /* FAQ */

EP-0073

2019-10-08T07:54:25Z

Dre: /* For Raspberry Pi Zero/Zero W/2B/2B+3B/3B+ */

=VGA666 Module For RPi=
[[File:Vga66602.jpg|thumb|left|300px]]
 
----
==Description==
This Module has another name: Gert-VGA-adapter, or Passive VGA adapter 666 for Raspberry Pi A+/B+/2B/3B/Zero 
The Raspberry Pi has an HDMI port to connect a display. 
If your monitor only has VGA, you have to use an adapter. 
Because this requires a digital-to-analogue conversion, those adapters can be quite pricey, and they can draw lots of power. 
As well as just allowing you to connect a VGA monitor natively. 
And unlike composite video, the DPI interface can be run independent of the HDMI. 
The software for dual screens is still under development. 
Running two screens at maximum resolution will depend on the speed of GPIO. 
'''This wasn’t possible on the Model A or B. 
And there’s a catch: as the board uses most of your GPIO pins, you lose access to them.''' 

All above are from raspberry pi official website.(https://www.raspberrypi.org/blog/gert-vga-adapter/) 
More information about VGA666 module please visit here: (https://www.raspberrypi.org/forums/viewtopic.php?f=91&t=94424)
----
==Compatibility List==
* Compatibility
{| class="wikitable" style="text-align: center;"
|-
!Platform !! VGA 666 Module !! Notes
|-
||Raspberry Pi 4 Model B || √||
|-
|Raspberry Pi 3 Model B Plus|| √||
|-
|Raspberry Pi zero || √||
|-
| Raspberry Pi zero W || √||
|-
|Raspberry Pi 3 Model B|| √||
|-
|Raspberry Pi 2 Model B|| √||
|-
|Raspberry Pi Model B+|| √|| Old Version Image
|-
|}

==Licence==
<pre>
VGA adaptor for the Raspberry-Pi computer.

Copyright © 2014 Fen Logic Ltd.

This document and the related databases are free: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by the Free Software Foundation,
either version 3 of the License, or any later version.
This document and the related databases are distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this database.
If not, see http://www.gnu.org/licenses/
</pre>

==Feature==
* Support for Raspberry Pi A+, Raspberry Pi B+, Raspberry Pi Zero, Raspberry Pi 2,model B, Raspberry Pi 3 model B
* The VGA output supports resolution:from 800x600 up to 30fps.
* With 6 bits per channel you have a maximum of 262144 colours.
* Easy to setup.
* Easy to configure.
* Dimension: 64.00mm x 32.24mm
* Weight: 16.48 g
----

==Package included:==
* 1 x VGA666 Module For RPi
----

==Pictures==
{|-
|[[File:Vga66601.jpg|thumb|left|300px]]
|[[File:Vga66602.jpg|thumb|none|300px]]
|}
{|-
|[[File:Vga66603.jpg|thumb|left|300px]]
|[[File:Vga66604.jpg|thumb|none|300px]]
|}
 
----

==How to wire it up==
Plug into GPIO as following Picture:
[[File:vga66601.jpg|thumb|left|400px]]
 
----

==How to use it==
===For Raspberry Pi 4B ===
Edit /boot/config.txt file with vim.tiny or other editor. and modify as following: 
<code>framebuffer_width=800</code> 
<code>framebuffer_height=600</code> 
<code>dpi_group=2</code> 
<code>dpi_mode=24</code> 
<code>dtparam=i2c_arm=off</code> 
<code>dtparam=spi=off</code> 
<code>dtparam=uart0=off</code> 
<code>dtparam=uart1=off</code> 
<code>dtoverlay=pi3-disable-bt-overlay</code> 
<code>dtoverlay=vga666</code> 
<code>enable_dpi_lcd=1</code> 
<code>display_default_lcd=1</code> 
<code>force_pwm_open=0</code> 
<code>dtparam=audio=on</code> 
<code>start_x=1</code> 
<code>gpu_mem=128</code> 
 
===For Raspberry Pi Zero/Zero W/2B/3B/3B+===
Edit /boot/config.txt file with vim.tiny or other editor. and modify as following: 
<code>framebuffer_width=800</code> 
<code>framebuffer_height=600</code> 
<code>dpi_group=2</code> 
<code>dpi_mode=86</code> 
<code>dtparam=i2c_arm=off</code> 
<code>dtparam=spi=off</code> 
<code>dtparam=uart0=off</code> 
<code>dtparam=uart1=off</code> 
<code>dtoverlay=pi3-disable-bt-overlay</code> 
<code>dtoverlay=vga666</code> 
<code>enable_dpi_lcd=1</code> 
<code>display_default_lcd=1</code> 
<code>force_pwm_open=0</code> 
<code>dtparam=audio=on</code> 
<code>start_x=1</code> 
<code>gpu_mem=128</code> 
 
'''You should disable all of GPIO pin's function so that it can work properly. we strongly recommend that you use 800x600 resolution. 
the highly resolution will slow down your Pi and cost more RAM.'''
----

==FAQ==
*Question: It is out of work on my raspberry pi 4B, it was twisted, please help me!
[[File:TIM图片20190718151140.jpg|left|500px]]
 
**Answer: please modify the /boot/config.txt file and change this parameter and try to reboot your pi.
dpi_mode=24
[[File:20190718151149.jpg|left|500px]]
 
----

EP-0073

2019-10-08T07:54:03Z

Dre: /* For Raspberry Pi 3B/3B+ */

=VGA666 Module For RPi=
[[File:Vga66602.jpg|thumb|left|300px]]
 
----
==Description==
This Module has another name: Gert-VGA-adapter, or Passive VGA adapter 666 for Raspberry Pi A+/B+/2B/3B/Zero 
The Raspberry Pi has an HDMI port to connect a display. 
If your monitor only has VGA, you have to use an adapter. 
Because this requires a digital-to-analogue conversion, those adapters can be quite pricey, and they can draw lots of power. 
As well as just allowing you to connect a VGA monitor natively. 
And unlike composite video, the DPI interface can be run independent of the HDMI. 
The software for dual screens is still under development. 
Running two screens at maximum resolution will depend on the speed of GPIO. 
'''This wasn’t possible on the Model A or B. 
And there’s a catch: as the board uses most of your GPIO pins, you lose access to them.''' 

All above are from raspberry pi official website.(https://www.raspberrypi.org/blog/gert-vga-adapter/) 
More information about VGA666 module please visit here: (https://www.raspberrypi.org/forums/viewtopic.php?f=91&t=94424)
----
==Compatibility List==
* Compatibility
{| class="wikitable" style="text-align: center;"
|-
!Platform !! VGA 666 Module !! Notes
|-
||Raspberry Pi 4 Model B || √||
|-
|Raspberry Pi 3 Model B Plus|| √||
|-
|Raspberry Pi zero || √||
|-
| Raspberry Pi zero W || √||
|-
|Raspberry Pi 3 Model B|| √||
|-
|Raspberry Pi 2 Model B|| √||
|-
|Raspberry Pi Model B+|| √|| Old Version Image
|-
|}

==Licence==
<pre>
VGA adaptor for the Raspberry-Pi computer.

Copyright © 2014 Fen Logic Ltd.

This document and the related databases are free: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by the Free Software Foundation,
either version 3 of the License, or any later version.
This document and the related databases are distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this database.
If not, see http://www.gnu.org/licenses/
</pre>

==Feature==
* Support for Raspberry Pi A+, Raspberry Pi B+, Raspberry Pi Zero, Raspberry Pi 2,model B, Raspberry Pi 3 model B
* The VGA output supports resolution:from 800x600 up to 30fps.
* With 6 bits per channel you have a maximum of 262144 colours.
* Easy to setup.
* Easy to configure.
* Dimension: 64.00mm x 32.24mm
* Weight: 16.48 g
----

==Package included:==
* 1 x VGA666 Module For RPi
----

==Pictures==
{|-
|[[File:Vga66601.jpg|thumb|left|300px]]
|[[File:Vga66602.jpg|thumb|none|300px]]
|}
{|-
|[[File:Vga66603.jpg|thumb|left|300px]]
|[[File:Vga66604.jpg|thumb|none|300px]]
|}
 
----

==How to wire it up==
Plug into GPIO as following Picture:
[[File:vga66601.jpg|thumb|left|400px]]
 
----

==How to use it==
===For Raspberry Pi 4B ===
Edit /boot/config.txt file with vim.tiny or other editor. and modify as following: 
<code>framebuffer_width=800</code> 
<code>framebuffer_height=600</code> 
<code>dpi_group=2</code> 
<code>dpi_mode=24</code> 
<code>dtparam=i2c_arm=off</code> 
<code>dtparam=spi=off</code> 
<code>dtparam=uart0=off</code> 
<code>dtparam=uart1=off</code> 
<code>dtoverlay=pi3-disable-bt-overlay</code> 
<code>dtoverlay=vga666</code> 
<code>enable_dpi_lcd=1</code> 
<code>display_default_lcd=1</code> 
<code>force_pwm_open=0</code> 
<code>dtparam=audio=on</code> 
<code>start_x=1</code> 
<code>gpu_mem=128</code> 
 
===For Raspberry Pi Zero/Zero W/2B/2B+3B/3B+===
Edit /boot/config.txt file with vim.tiny or other editor. and modify as following: 
<code>framebuffer_width=800</code> 
<code>framebuffer_height=600</code> 
<code>dpi_group=2</code> 
<code>dpi_mode=86</code> 
<code>dtparam=i2c_arm=off</code> 
<code>dtparam=spi=off</code> 
<code>dtparam=uart0=off</code> 
<code>dtparam=uart1=off</code> 
<code>dtoverlay=pi3-disable-bt-overlay</code> 
<code>dtoverlay=vga666</code> 
<code>enable_dpi_lcd=1</code> 
<code>display_default_lcd=1</code> 
<code>force_pwm_open=0</code> 
<code>dtparam=audio=on</code> 
<code>start_x=1</code> 
<code>gpu_mem=128</code> 
 
'''You should disable all of GPIO pin's function so that it can work properly. we strongly recommend that you use 800x600 resolution. 
the highly resolution will slow down your Pi and cost more RAM.'''
----

==FAQ==
*Question: It is out of work on my raspberry pi 4B, it was twisted, please help me!
[[File:TIM图片20190718151140.jpg|left|500px]]
 
**Answer: please modify the /boot/config.txt file and change this parameter and try to reboot your pi.
dpi_mode=24
[[File:20190718151149.jpg|left|500px]]
 
----

K-0403

2019-10-08T07:03:15Z

Dre: /* Keywords */

EP-0109

2019-09-30T07:49:25Z

Dre: /* Use the Keyboard to control the toycar */

==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 wireless keyboard and wireless handle to control the car by pygame.

'''Remember:Don't assemble and disassemble the board when the power supply is working.They don't support hot plug
'''

==Features==
* DockerPi Series
* Programmable
* Intelligent toycar
* Easy to control
* DIY
* Selective control
* Wireless control
* Handle
* Keyboard
* Motor

==Gallery==
==Package Includes==
*Essentials
** 1 x Battery case
***3 x 18650('''Not included''')
*** 2 x DC Motor
*** 2 x Acrylic gasket
*** 2 x M*12 Half-round head screw
*** 2 x PH Connector
** 2 x 65mm Black rubber wheel
***4 x M4*4 Hexagon socket tightening screw
***8 x M3*9 Half-round head screw
***8 x M3 Nut
***4 x M3*5 Half-round head screw
***2 x M4*5 Half-round head screw
** 1 x All around wheel
***4 x M3*22 + 6 Copper stick
***4 x M2.5 Nut
***4 x M5*4 Half-round head screw
**1 x Motor Board
**2 x Coupling
**2 x Coupling fixing bracket
** 1 x Power Board
** 1 x Instruction
** 1 x Acrylic sheet design drawings
** 4 x M2.5 Nut
** 4 x M2.5*6+6Copper stick
** 8 x M2.5*12+6Copper
** 4 x M2.5*6 Half-round head screw

*Optional
** TF card
** Arcylic board
** RaspberryPi
** Wireless handle
** Wireless keyboard

==Announcements==
*'''Please turn off the power when you connect it!
'''
*DockerPi Series Board does not support hot plug
*Please do not install reverse battery

==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'''
[[File:Raspi-config-1.png |none|400px]]
then '''I2C'''
[[File:Raspi-config-2.png |none|400px]]
Enable!
[[File:Raspi-config-3.png |none|400px]]
Done!
[[File:Raspi-config-4.png |none|400px]]

==How to use==
==='''Use the Handle to control the toycar'''===
*'''Handle model:A-038 2.4G wireless gamepad'''
*'''Note:Different models of handles may not match the program'''
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:
<code>sudo raspi-config</code>
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>

*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
*Please install the python3's joystick
<code>sudo pip3 install joystick</code>
*Please install the python3's matplotlib
<code>sudo pip3 install matplotlib</code>
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the arrowkey of up:Go ahead
*Press the arrowkey of down:Go back
*Press the arrowkey of left:Turn left
*Press the arrowkey of right:Turn right
<pre>
import joystick
import sys
import time
import pygame
import smbus

bus = smbus.SMBus(1)
MOTOR_DRIVER_ADDRESS = 0x18
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_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_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

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 turnright():
temp0 = 300
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)
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)
bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1)
def turnleft():
temp0 = 300
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)
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)
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)
# Define some colors
BLACK = ( 0, 0, 0)
WHITE = ( 255, 255, 255)
# This is a simple class that will help us print to the screen
class TextPrint:
def __init__(self):
self.reset()
self.font = pygame.font.Font(None, 20)
def print(self, screen, textString):
textBitmap = self.font.render(textString, True, BLACK)
screen.blit(textBitmap, [self.x, self.y])
self.y += self.line_height
def reset(self):
self.x = 10
self.y = 10
self.line_height = 15
def indent(self):
self.x += 10
def unindent(self):
self.x -= 10
pygame.init()
# Set the width and height of the screen [width,height]
size = [500, 700]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("My Game")
#Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
# Initialize the joysticks
pygame.joystick.init()
# Get ready to print
textPrint = TextPrint()
# -------- Main Program Loop -----------
while done==False:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done=True # Flag that we are done so we exit this loop
# DRAWING STEP
# First, clear the screen to white. Don't put other drawing commands
# above this, or they will be erased with this command.
screen.fill(WHITE)
textPrint.reset()
# Get count of joysticks
joystick_count = pygame.joystick.get_count()
#textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
textPrint.indent()
# For each joystick:
for i in range(joystick_count):
joystick = pygame.joystick.Joystick(i)
joystick.init()
# Usually axis run in pairs, up/down for one, and left/right for
# the other.
axes = joystick.get_numaxes()
#textPrint.print(screen, "Number of axes: {}".format(axes) )
#textPrint.indent()
for i in range( axes ):
axis = joystick.get_axis( i )
textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
if i==1 and axis== -1.0:
print("Left up",axis)
if i==1 and axis > 0.3:
print("Left down",axis)
if i==0 and axis== -1:
print("Left left",axis)
if i==0 and axis > 0.3:
print("Left right",axis)
if i==4 and axis== -1.0:
print("Right up",axis)
if i==4 and axis > 0.3:
print("Right down",axis)
if i==3 and axis== -1:
print("Right left",axis)
if i==3 and axis > 0.3:
print("Right right",axis)
if i==2 and axis > 0.3:
print("LT",axis)
if i==5 and axis > 0.3:
print("RT",axis)

textPrint.unindent()
buttons = joystick.get_numbuttons()
textPrint.print(screen, "Number of buttons: {}".format(buttons) )
textPrint.indent()

for i in range( buttons ):
button = joystick.get_button( i )
textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
if i==0 and button ==1:
print("A")
if i==1 and button ==1:
print("B")
if i==2 and button ==1:
print("X")
if i==3 and button ==1:
print("Y")
if i==4 and button ==1:
print("LB")
if i==5 and button ==1:
print("RB")
if i==6 and button ==1:
print("BACK")
if i==7 and button ==1:
print("START")
if i==8 and button ==1:
print("Logitech")
if i==9 and button ==1:
print("Left GA")
if i==10 and button ==1:
print("Right GA")

textPrint.unindent()
# Hat switch. All or nothing for direction, not like joysticks.
# Value comes back in an array.
hats = joystick.get_numhats()
textPrint.print(screen, "Number of hats: {}".format(hats) )
textPrint.indent()

for i in range( hats ):
speed = 300
hat = joystick.get_hat( i )
textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
if hat==(0,1):
print("Go ahead")
setspeed()
setdirection(2)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()

if hat==(0,0):
print("Slowing down")
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)
speed = temp1
while speed > 0 :
speed = speed - 8
time.sleep(0.01)
setspeed()
if hat==(0,-1):
print("Go back")
setspeed()
setdirection(1)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
textPrint.unindent()
#textPrint.unindent()

# ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Limit to 20 frames per second
clock.tick(20)
# Close the window and quit.
# If you forget this line, the program will 'hang'
pygame.quit ()
</pre>
*Execute it!
<code>python3 toycar.py</code>
*Plug the wireless handle receiver into the Raspberry Pi,then enjoy it!

==='''Use the Keyboard to control the toycar'''===
''' 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:
<code>sudo raspi-config</code>
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>
*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the key of W:Go ahead
*Press the key of S:Go back
*Press the key of A:Turn left
*Press the key of D:Turn right
<pre>
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_DIRECTION = 0x09
MOTOR_DRIVER_ENABLE = 0x13
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 - 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 turnright():
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 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()
#
keyboard_list = [pygame.K_w,pygame.K_s,pygame.K_a,pygame.K_d]
keys_pressed = pygame.key.get_pressed()
if keys_pressed[keyboard_list[0]]:
print("Go ahead")
speed = 200
while (speed < 300):
speed += 10
setdirection(2)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()

elif keys_pressed[keyboard_list[1]]:
print("Go back")
speed = 200
while (speed < 350):
speed += 10
setdirection(1)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()
elif keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()

elif keys_pressed[keyboard_list[3]]:
print("Turn right")
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 > 0):
time.sleep(0.01)
temp1 -= 4
decspeed()
pygame.display.update()
</pre>
*Execute it!
<code>sudo DISPLAY=:0.0 python3 toycar.py</code>
*Plug the wireless keyboard receiver into the Raspberry Pi,then enjoy it!

==FAQ==
* Q: Can the Bluetooth controller be used?
A: Yes,we do not recommend it, the delay is very high
* Q: Why can I control it when I use the handle, sometimes I can’t control it?
A: Please observe if the four lights on your handle are flashing together.If the flashing together means re-pairing,
the signal cannot be transmitted.
* Q: What is the maximum speed the car can reaching?
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

EP-0109

2019-09-30T07:45:16Z

Dre: /* Use the Keyboard to control the toycar */

==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 wireless keyboard and wireless handle to control the car by pygame.

'''Remember:Don't assemble and disassemble the board when the power supply is working.They don't support hot plug
'''

==Features==
* DockerPi Series
* Programmable
* Intelligent toycar
* Easy to control
* DIY
* Selective control
* Wireless control
* Handle
* Keyboard
* Motor

==Gallery==
==Package Includes==
*Essentials
** 1 x Battery case
***3 x 18650('''Not included''')
*** 2 x DC Motor
*** 2 x Acrylic gasket
*** 2 x M*12 Half-round head screw
*** 2 x PH Connector
** 2 x 65mm Black rubber wheel
***4 x M4*4 Hexagon socket tightening screw
***8 x M3*9 Half-round head screw
***8 x M3 Nut
***4 x M3*5 Half-round head screw
***2 x M4*5 Half-round head screw
** 1 x All around wheel
***4 x M3*22 + 6 Copper stick
***4 x M2.5 Nut
***4 x M5*4 Half-round head screw
**1 x Motor Board
**2 x Coupling
**2 x Coupling fixing bracket
** 1 x Power Board
** 1 x Instruction
** 1 x Acrylic sheet design drawings
** 4 x M2.5 Nut
** 4 x M2.5*6+6Copper stick
** 8 x M2.5*12+6Copper
** 4 x M2.5*6 Half-round head screw

*Optional
** TF card
** Arcylic board
** RaspberryPi
** Wireless handle
** Wireless keyboard

==Announcements==
*'''Please turn off the power when you connect it!
'''
*DockerPi Series Board does not support hot plug
*Please do not install reverse battery

==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'''
[[File:Raspi-config-1.png |none|400px]]
then '''I2C'''
[[File:Raspi-config-2.png |none|400px]]
Enable!
[[File:Raspi-config-3.png |none|400px]]
Done!
[[File:Raspi-config-4.png |none|400px]]

==How to use==
==='''Use the Handle to control the toycar'''===
*'''Handle model:A-038 2.4G wireless gamepad'''
*'''Note:Different models of handles may not match the program'''
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:
<code>sudo raspi-config</code>
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>

*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
*Please install the python3's joystick
<code>sudo pip3 install joystick</code>
*Please install the python3's matplotlib
<code>sudo pip3 install matplotlib</code>
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the arrowkey of up:Go ahead
*Press the arrowkey of down:Go back
*Press the arrowkey of left:Turn left
*Press the arrowkey of right:Turn right
<pre>
import joystick
import sys
import time
import pygame
import smbus

bus = smbus.SMBus(1)
MOTOR_DRIVER_ADDRESS = 0x18
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_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_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

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 turnright():
temp0 = 300
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)
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)
bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1)
def turnleft():
temp0 = 300
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)
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)
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)
# Define some colors
BLACK = ( 0, 0, 0)
WHITE = ( 255, 255, 255)
# This is a simple class that will help us print to the screen
class TextPrint:
def __init__(self):
self.reset()
self.font = pygame.font.Font(None, 20)
def print(self, screen, textString):
textBitmap = self.font.render(textString, True, BLACK)
screen.blit(textBitmap, [self.x, self.y])
self.y += self.line_height
def reset(self):
self.x = 10
self.y = 10
self.line_height = 15
def indent(self):
self.x += 10
def unindent(self):
self.x -= 10
pygame.init()
# Set the width and height of the screen [width,height]
size = [500, 700]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("My Game")
#Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
# Initialize the joysticks
pygame.joystick.init()
# Get ready to print
textPrint = TextPrint()
# -------- Main Program Loop -----------
while done==False:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done=True # Flag that we are done so we exit this loop
# DRAWING STEP
# First, clear the screen to white. Don't put other drawing commands
# above this, or they will be erased with this command.
screen.fill(WHITE)
textPrint.reset()
# Get count of joysticks
joystick_count = pygame.joystick.get_count()
#textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
textPrint.indent()
# For each joystick:
for i in range(joystick_count):
joystick = pygame.joystick.Joystick(i)
joystick.init()
# Usually axis run in pairs, up/down for one, and left/right for
# the other.
axes = joystick.get_numaxes()
#textPrint.print(screen, "Number of axes: {}".format(axes) )
#textPrint.indent()
for i in range( axes ):
axis = joystick.get_axis( i )
textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
if i==1 and axis== -1.0:
print("Left up",axis)
if i==1 and axis > 0.3:
print("Left down",axis)
if i==0 and axis== -1:
print("Left left",axis)
if i==0 and axis > 0.3:
print("Left right",axis)
if i==4 and axis== -1.0:
print("Right up",axis)
if i==4 and axis > 0.3:
print("Right down",axis)
if i==3 and axis== -1:
print("Right left",axis)
if i==3 and axis > 0.3:
print("Right right",axis)
if i==2 and axis > 0.3:
print("LT",axis)
if i==5 and axis > 0.3:
print("RT",axis)

textPrint.unindent()
buttons = joystick.get_numbuttons()
textPrint.print(screen, "Number of buttons: {}".format(buttons) )
textPrint.indent()

for i in range( buttons ):
button = joystick.get_button( i )
textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
if i==0 and button ==1:
print("A")
if i==1 and button ==1:
print("B")
if i==2 and button ==1:
print("X")
if i==3 and button ==1:
print("Y")
if i==4 and button ==1:
print("LB")
if i==5 and button ==1:
print("RB")
if i==6 and button ==1:
print("BACK")
if i==7 and button ==1:
print("START")
if i==8 and button ==1:
print("Logitech")
if i==9 and button ==1:
print("Left GA")
if i==10 and button ==1:
print("Right GA")

textPrint.unindent()
# Hat switch. All or nothing for direction, not like joysticks.
# Value comes back in an array.
hats = joystick.get_numhats()
textPrint.print(screen, "Number of hats: {}".format(hats) )
textPrint.indent()

for i in range( hats ):
speed = 300
hat = joystick.get_hat( i )
textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
if hat==(0,1):
print("Go ahead")
setspeed()
setdirection(2)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()

if hat==(0,0):
print("Slowing down")
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)
speed = temp1
while speed > 0 :
speed = speed - 8
time.sleep(0.01)
setspeed()
if hat==(0,-1):
print("Go back")
setspeed()
setdirection(1)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
textPrint.unindent()
#textPrint.unindent()

# ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Limit to 20 frames per second
clock.tick(20)
# Close the window and quit.
# If you forget this line, the program will 'hang'
pygame.quit ()
</pre>
*Execute it!
<code>python3 toycar.py</code>
*Plug the wireless handle receiver into the Raspberry Pi,then enjoy it!

==='''Use the Keyboard to control the toycar'''===
''' 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:
<code>sudo raspi-config</code>
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>
*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the key of W:Go ahead
*Press the key of S:Go back
*Press the key of A:Turn left
*Press the key of D:Turn right
<pre>
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_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_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 - 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 turnright():
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 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()
#
keyboard_list = [pygame.K_w,pygame.K_s,pygame.K_a,pygame.K_d]
keys_pressed = pygame.key.get_pressed()
if keys_pressed[keyboard_list[0]]:
print("Go ahead")
speed = 200
while (speed < 300):
speed += 10
setdirection(2)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()

elif keys_pressed[keyboard_list[1]]:
print("Go back")
speed = 200
while (speed < 350):
speed += 10
setdirection(1)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()
elif keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()

elif keys_pressed[keyboard_list[3]]:
print("Turn right")
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 > 0):
time.sleep(0.01)
temp1 -= 4
decspeed()
pygame.display.update()
</pre>
*Execute it!
<code>sudo DISPLAY=:0.0 python3 toycar.py</code>
*Plug the wireless keyboard receiver into the Raspberry Pi,then enjoy it!

==FAQ==
* Q: Can the Bluetooth controller be used?
A: Yes,we do not recommend it, the delay is very high
* Q: Why can I control it when I use the handle, sometimes I can’t control it?
A: Please observe if the four lights on your handle are flashing together.If the flashing together means re-pairing,
the signal cannot be transmitted.
* Q: What is the maximum speed the car can reaching?
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

EP-0109

2019-09-30T07:44:29Z

Dre: /* Use the Handle to control the toycar */

==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 wireless keyboard and wireless handle to control the car by pygame.

'''Remember:Don't assemble and disassemble the board when the power supply is working.They don't support hot plug
'''

==Features==
* DockerPi Series
* Programmable
* Intelligent toycar
* Easy to control
* DIY
* Selective control
* Wireless control
* Handle
* Keyboard
* Motor

==Gallery==
==Package Includes==
*Essentials
** 1 x Battery case
***3 x 18650('''Not included''')
*** 2 x DC Motor
*** 2 x Acrylic gasket
*** 2 x M*12 Half-round head screw
*** 2 x PH Connector
** 2 x 65mm Black rubber wheel
***4 x M4*4 Hexagon socket tightening screw
***8 x M3*9 Half-round head screw
***8 x M3 Nut
***4 x M3*5 Half-round head screw
***2 x M4*5 Half-round head screw
** 1 x All around wheel
***4 x M3*22 + 6 Copper stick
***4 x M2.5 Nut
***4 x M5*4 Half-round head screw
**1 x Motor Board
**2 x Coupling
**2 x Coupling fixing bracket
** 1 x Power Board
** 1 x Instruction
** 1 x Acrylic sheet design drawings
** 4 x M2.5 Nut
** 4 x M2.5*6+6Copper stick
** 8 x M2.5*12+6Copper
** 4 x M2.5*6 Half-round head screw

*Optional
** TF card
** Arcylic board
** RaspberryPi
** Wireless handle
** Wireless keyboard

==Announcements==
*'''Please turn off the power when you connect it!
'''
*DockerPi Series Board does not support hot plug
*Please do not install reverse battery

==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'''
[[File:Raspi-config-1.png |none|400px]]
then '''I2C'''
[[File:Raspi-config-2.png |none|400px]]
Enable!
[[File:Raspi-config-3.png |none|400px]]
Done!
[[File:Raspi-config-4.png |none|400px]]

==How to use==
==='''Use the Handle to control the toycar'''===
*'''Handle model:A-038 2.4G wireless gamepad'''
*'''Note:Different models of handles may not match the program'''
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:
<code>sudo raspi-config</code>
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>

*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
*Please install the python3's joystick
<code>sudo pip3 install joystick</code>
*Please install the python3's matplotlib
<code>sudo pip3 install matplotlib</code>
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the arrowkey of up:Go ahead
*Press the arrowkey of down:Go back
*Press the arrowkey of left:Turn left
*Press the arrowkey of right:Turn right
<pre>
import joystick
import sys
import time
import pygame
import smbus

bus = smbus.SMBus(1)
MOTOR_DRIVER_ADDRESS = 0x18
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_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_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

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 turnright():
temp0 = 300
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)
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)
bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1)
def turnleft():
temp0 = 300
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)
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)
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)
# Define some colors
BLACK = ( 0, 0, 0)
WHITE = ( 255, 255, 255)
# This is a simple class that will help us print to the screen
class TextPrint:
def __init__(self):
self.reset()
self.font = pygame.font.Font(None, 20)
def print(self, screen, textString):
textBitmap = self.font.render(textString, True, BLACK)
screen.blit(textBitmap, [self.x, self.y])
self.y += self.line_height
def reset(self):
self.x = 10
self.y = 10
self.line_height = 15
def indent(self):
self.x += 10
def unindent(self):
self.x -= 10
pygame.init()
# Set the width and height of the screen [width,height]
size = [500, 700]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("My Game")
#Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
# Initialize the joysticks
pygame.joystick.init()
# Get ready to print
textPrint = TextPrint()
# -------- Main Program Loop -----------
while done==False:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done=True # Flag that we are done so we exit this loop
# DRAWING STEP
# First, clear the screen to white. Don't put other drawing commands
# above this, or they will be erased with this command.
screen.fill(WHITE)
textPrint.reset()
# Get count of joysticks
joystick_count = pygame.joystick.get_count()
#textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
textPrint.indent()
# For each joystick:
for i in range(joystick_count):
joystick = pygame.joystick.Joystick(i)
joystick.init()
# Usually axis run in pairs, up/down for one, and left/right for
# the other.
axes = joystick.get_numaxes()
#textPrint.print(screen, "Number of axes: {}".format(axes) )
#textPrint.indent()
for i in range( axes ):
axis = joystick.get_axis( i )
textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
if i==1 and axis== -1.0:
print("Left up",axis)
if i==1 and axis > 0.3:
print("Left down",axis)
if i==0 and axis== -1:
print("Left left",axis)
if i==0 and axis > 0.3:
print("Left right",axis)
if i==4 and axis== -1.0:
print("Right up",axis)
if i==4 and axis > 0.3:
print("Right down",axis)
if i==3 and axis== -1:
print("Right left",axis)
if i==3 and axis > 0.3:
print("Right right",axis)
if i==2 and axis > 0.3:
print("LT",axis)
if i==5 and axis > 0.3:
print("RT",axis)

textPrint.unindent()
buttons = joystick.get_numbuttons()
textPrint.print(screen, "Number of buttons: {}".format(buttons) )
textPrint.indent()

for i in range( buttons ):
button = joystick.get_button( i )
textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
if i==0 and button ==1:
print("A")
if i==1 and button ==1:
print("B")
if i==2 and button ==1:
print("X")
if i==3 and button ==1:
print("Y")
if i==4 and button ==1:
print("LB")
if i==5 and button ==1:
print("RB")
if i==6 and button ==1:
print("BACK")
if i==7 and button ==1:
print("START")
if i==8 and button ==1:
print("Logitech")
if i==9 and button ==1:
print("Left GA")
if i==10 and button ==1:
print("Right GA")

textPrint.unindent()
# Hat switch. All or nothing for direction, not like joysticks.
# Value comes back in an array.
hats = joystick.get_numhats()
textPrint.print(screen, "Number of hats: {}".format(hats) )
textPrint.indent()

for i in range( hats ):
speed = 300
hat = joystick.get_hat( i )
textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
if hat==(0,1):
print("Go ahead")
setspeed()
setdirection(2)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()

if hat==(0,0):
print("Slowing down")
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)
speed = temp1
while speed > 0 :
speed = speed - 8
time.sleep(0.01)
setspeed()
if hat==(0,-1):
print("Go back")
setspeed()
setdirection(1)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
textPrint.unindent()
#textPrint.unindent()

# ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Limit to 20 frames per second
clock.tick(20)
# Close the window and quit.
# If you forget this line, the program will 'hang'
pygame.quit ()
</pre>
*Execute it!
<code>python3 toycar.py</code>
*Plug the wireless handle receiver into the Raspberry Pi,then enjoy it!

==='''Use the Keyboard to control the toycar'''===
''' 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:
<code>sudo raspi-config</code>
{|
| [[File:DockerPi DIY Car(1).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>
{|
|[[File:DockerPi DIY Car(3).png|left|500px]]
|}
*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
{|
|[[File:DockerPi DIY Car(4).png|left|500px]]
|}
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the key of W:Go ahead
*Press the key of S:Go back
*Press the key of A:Turn left
*Press the key of D:Turn right
<pre>
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_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_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 - 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 turnright():
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 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()
#
keyboard_list = [pygame.K_w,pygame.K_s,pygame.K_a,pygame.K_d]
keys_pressed = pygame.key.get_pressed()
if keys_pressed[keyboard_list[0]]:
print("Go ahead")
speed = 200
while (speed < 300):
speed += 10
setdirection(2)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()

elif keys_pressed[keyboard_list[1]]:
print("Go back")
speed = 200
while (speed < 350):
speed += 10
setdirection(1)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()
elif keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()

elif keys_pressed[keyboard_list[3]]:
print("Turn right")
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 > 0):
time.sleep(0.01)
temp1 -= 4
decspeed()
pygame.display.update()
</pre>
*Execute it!
<code>sudo DISPLAY=:0.0 python3 toycar.py</code>
*Plug the wireless keyboard receiver into the Raspberry Pi,then enjoy it!

==FAQ==
* Q: Can the Bluetooth controller be used?
A: Yes,we do not recommend it, the delay is very high
* Q: Why can I control it when I use the handle, sometimes I can’t control it?
A: Please observe if the four lights on your handle are flashing together.If the flashing together means re-pairing,
the signal cannot be transmitted.
* Q: What is the maximum speed the car can reaching?
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

EP-0109

2019-09-30T01:50:30Z

Dre: /* FAQ */

==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 wireless keyboard and wireless handle to control the car by pygame.

'''Remember:Don't assemble and disassemble the board when the power supply is working.They don't support hot plug
'''

==Features==
* DockerPi Series
* Programmable
* Intelligent toycar
* Easy to control
* DIY
* Selective control
* Wireless control
* Handle
* Keyboard
* Motor

==Gallery==
==Package Includes==
*Essentials
** 1 x Battery case
***3 x 18650('''Not included''')
*** 2 x DC Motor
*** 2 x Acrylic gasket
*** 2 x M*12 Half-round head screw
*** 2 x PH Connector
** 2 x 65mm Black rubber wheel
***4 x M4*4 Hexagon socket tightening screw
***8 x M3*9 Half-round head screw
***8 x M3 Nut
***4 x M3*5 Half-round head screw
***2 x M4*5 Half-round head screw
** 1 x All around wheel
***4 x M3*22 + 6 Copper stick
***4 x M2.5 Nut
***4 x M5*4 Half-round head screw
**1 x Motor Board
**2 x Coupling
**2 x Coupling fixing bracket
** 1 x Power Board
** 1 x Instruction
** 1 x Acrylic sheet design drawings
** 4 x M2.5 Nut
** 4 x M2.5*6+6Copper stick
** 8 x M2.5*12+6Copper
** 4 x M2.5*6 Half-round head screw

*Optional
** TF card
** Arcylic board
** RaspberryPi
** Wireless handle
** Wireless keyboard

==Announcements==
*'''Please turn off the power when you connect it!
'''
*DockerPi Series Board does not support hot plug
*Please do not install reverse battery

==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'''
[[File:Raspi-config-1.png |none|400px]]
then '''I2C'''
[[File:Raspi-config-2.png |none|400px]]
Enable!
[[File:Raspi-config-3.png |none|400px]]
Done!
[[File:Raspi-config-4.png |none|400px]]

==How to use==
==='''Use the Handle to control the toycar'''===
*'''Handle model:A-038 2.4G wireless gamepad'''
*'''Note:Different models of handles may not match the program'''
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:
<code>sudo raspi-config</code>
{|
| [[File:DockerPi DIY Car(1).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>
{|
|[[File:DockerPi DIY Car(3).png|left|500px]]
|}
*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
{|
|[[File:DockerPi DIY Car(4).png|left|500px]]
|}
*Please install the python3's joystick
<code>sudo pip3 install joystick</code>
{|
|[[File:DockerPi DIY Car(5).png|left|500px]]
|}
*Please install the python3's matplotlib
<code>sudo pip3 install matplotlib</code>
{|
|[[File:DockerPi DIY Car(6).png|left|500px]]
|}
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the arrowkey of up:Go ahead
*Press the arrowkey of down:Go back
*Press the arrowkey of left:Turn left
*Press the arrowkey of right:Turn right
<pre>
import joystick
import sys
import time
import pygame
import smbus

bus = smbus.SMBus(1)
MOTOR_DRIVER_ADDRESS = 0x18
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_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_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

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 turnright():
temp0 = 300
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)
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)
bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1)
def turnleft():
temp0 = 300
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)
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)
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)
# Define some colors
BLACK = ( 0, 0, 0)
WHITE = ( 255, 255, 255)
# This is a simple class that will help us print to the screen
class TextPrint:
def __init__(self):
self.reset()
self.font = pygame.font.Font(None, 20)
def print(self, screen, textString):
textBitmap = self.font.render(textString, True, BLACK)
screen.blit(textBitmap, [self.x, self.y])
self.y += self.line_height
def reset(self):
self.x = 10
self.y = 10
self.line_height = 15
def indent(self):
self.x += 10
def unindent(self):
self.x -= 10
pygame.init()
# Set the width and height of the screen [width,height]
size = [500, 700]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("My Game")
#Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
# Initialize the joysticks
pygame.joystick.init()
# Get ready to print
textPrint = TextPrint()
# -------- Main Program Loop -----------
while done==False:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done=True # Flag that we are done so we exit this loop
# DRAWING STEP
# First, clear the screen to white. Don't put other drawing commands
# above this, or they will be erased with this command.
screen.fill(WHITE)
textPrint.reset()
# Get count of joysticks
joystick_count = pygame.joystick.get_count()
#textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
textPrint.indent()
# For each joystick:
for i in range(joystick_count):
joystick = pygame.joystick.Joystick(i)
joystick.init()
# Usually axis run in pairs, up/down for one, and left/right for
# the other.
axes = joystick.get_numaxes()
#textPrint.print(screen, "Number of axes: {}".format(axes) )
#textPrint.indent()
for i in range( axes ):
axis = joystick.get_axis( i )
textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
if i==1 and axis== -1.0:
print("Left up",axis)
if i==1 and axis > 0.3:
print("Left down",axis)
if i==0 and axis== -1:
print("Left left",axis)
if i==0 and axis > 0.3:
print("Left right",axis)
if i==4 and axis== -1.0:
print("Right up",axis)
if i==4 and axis > 0.3:
print("Right down",axis)
if i==3 and axis== -1:
print("Right left",axis)
if i==3 and axis > 0.3:
print("Right right",axis)
if i==2 and axis > 0.3:
print("LT",axis)
if i==5 and axis > 0.3:
print("RT",axis)

textPrint.unindent()
buttons = joystick.get_numbuttons()
textPrint.print(screen, "Number of buttons: {}".format(buttons) )
textPrint.indent()

for i in range( buttons ):
button = joystick.get_button( i )
textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
if i==0 and button ==1:
print("A")
if i==1 and button ==1:
print("B")
if i==2 and button ==1:
print("X")
if i==3 and button ==1:
print("Y")
if i==4 and button ==1:
print("LB")
if i==5 and button ==1:
print("RB")
if i==6 and button ==1:
print("BACK")
if i==7 and button ==1:
print("START")
if i==8 and button ==1:
print("Logitech")
if i==9 and button ==1:
print("Left GA")
if i==10 and button ==1:
print("Right GA")

textPrint.unindent()
# Hat switch. All or nothing for direction, not like joysticks.
# Value comes back in an array.
hats = joystick.get_numhats()
textPrint.print(screen, "Number of hats: {}".format(hats) )
textPrint.indent()

for i in range( hats ):
speed = 300
hat = joystick.get_hat( i )
textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
if hat==(0,1):
print("Go ahead")
setspeed()
setdirection(2)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()

if hat==(0,0):
print("Slowing down")
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)
speed = temp1
while speed > 0 :
speed = speed - 8
time.sleep(0.01)
setspeed()
if hat==(0,-1):
print("Go back")
setspeed()
setdirection(1)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
textPrint.unindent()
#textPrint.unindent()

# ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Limit to 20 frames per second
clock.tick(20)
# Close the window and quit.
# If you forget this line, the program will 'hang'
pygame.quit ()
</pre>
*Execute it!
<code>python3 toycar.py</code>
*Plug the wireless handle receiver into the Raspberry Pi,then enjoy it!

==='''Use the Keyboard to control the toycar'''===
''' 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:
<code>sudo raspi-config</code>
{|
| [[File:DockerPi DIY Car(1).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>
{|
|[[File:DockerPi DIY Car(3).png|left|500px]]
|}
*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
{|
|[[File:DockerPi DIY Car(4).png|left|500px]]
|}
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the key of W:Go ahead
*Press the key of S:Go back
*Press the key of A:Turn left
*Press the key of D:Turn right
<pre>
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_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_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 - 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 turnright():
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 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()
#
keyboard_list = [pygame.K_w,pygame.K_s,pygame.K_a,pygame.K_d]
keys_pressed = pygame.key.get_pressed()
if keys_pressed[keyboard_list[0]]:
print("Go ahead")
speed = 200
while (speed < 300):
speed += 10
setdirection(2)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()

elif keys_pressed[keyboard_list[1]]:
print("Go back")
speed = 200
while (speed < 350):
speed += 10
setdirection(1)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()
elif keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()

elif keys_pressed[keyboard_list[3]]:
print("Turn right")
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 > 0):
time.sleep(0.01)
temp1 -= 4
decspeed()
pygame.display.update()
</pre>
*Execute it!
<code>sudo DISPLAY=:0.0 python3 toycar.py</code>
*Plug the wireless keyboard receiver into the Raspberry Pi,then enjoy it!

==FAQ==
* Q: Can the Bluetooth controller be used?
A: Yes,we do not recommend it, the delay is very high
* Q: Why can I control it when I use the handle, sometimes I can’t control it?
A: Please observe if the four lights on your handle are flashing together.If the flashing together means re-pairing,
the signal cannot be transmitted.
* Q: What is the maximum speed the car can reaching?
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

EP-0109

2019-09-30T01:32:09Z

Dre: /* Use the Handle to control the toycar */

==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 wireless keyboard and wireless handle to control the car by pygame.

'''Remember:Don't assemble and disassemble the board when the power supply is working.They don't support hot plug
'''

==Features==
* DockerPi Series
* Programmable
* Intelligent toycar
* Easy to control
* DIY
* Selective control
* Wireless control
* Handle
* Keyboard
* Motor

==Gallery==
==Package Includes==
*Essentials
** 1 x Battery case
***3 x 18650('''Not included''')
*** 2 x DC Motor
*** 2 x Acrylic gasket
*** 2 x M*12 Half-round head screw
*** 2 x PH Connector
** 2 x 65mm Black rubber wheel
***4 x M4*4 Hexagon socket tightening screw
***8 x M3*9 Half-round head screw
***8 x M3 Nut
***4 x M3*5 Half-round head screw
***2 x M4*5 Half-round head screw
** 1 x All around wheel
***4 x M3*22 + 6 Copper stick
***4 x M2.5 Nut
***4 x M5*4 Half-round head screw
**1 x Motor Board
**2 x Coupling
**2 x Coupling fixing bracket
** 1 x Power Board
** 1 x Instruction
** 1 x Acrylic sheet design drawings
** 4 x M2.5 Nut
** 4 x M2.5*6+6Copper stick
** 8 x M2.5*12+6Copper
** 4 x M2.5*6 Half-round head screw

*Optional
** TF card
** Arcylic board
** RaspberryPi
** Wireless handle
** Wireless keyboard

==Announcements==
*'''Please turn off the power when you connect it!
'''
*DockerPi Series Board does not support hot plug
*Please do not install reverse battery

==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'''
[[File:Raspi-config-1.png |none|400px]]
then '''I2C'''
[[File:Raspi-config-2.png |none|400px]]
Enable!
[[File:Raspi-config-3.png |none|400px]]
Done!
[[File:Raspi-config-4.png |none|400px]]

==How to use==
==='''Use the Handle to control the toycar'''===
*'''Handle model:A-038 2.4G wireless gamepad'''
*'''Note:Different models of handles may not match the program'''
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:
<code>sudo raspi-config</code>
{|
| [[File:DockerPi DIY Car(1).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>
{|
|[[File:DockerPi DIY Car(3).png|left|500px]]
|}
*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
{|
|[[File:DockerPi DIY Car(4).png|left|500px]]
|}
*Please install the python3's joystick
<code>sudo pip3 install joystick</code>
{|
|[[File:DockerPi DIY Car(5).png|left|500px]]
|}
*Please install the python3's matplotlib
<code>sudo pip3 install matplotlib</code>
{|
|[[File:DockerPi DIY Car(6).png|left|500px]]
|}
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the arrowkey of up:Go ahead
*Press the arrowkey of down:Go back
*Press the arrowkey of left:Turn left
*Press the arrowkey of right:Turn right
<pre>
import joystick
import sys
import time
import pygame
import smbus

bus = smbus.SMBus(1)
MOTOR_DRIVER_ADDRESS = 0x18
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_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_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

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 turnright():
temp0 = 300
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)
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)
bus.write_byte_data(MOTOR_DRIVER_ADDRESS,MOTOR_DRIVER_ENABLE,1)
def turnleft():
temp0 = 300
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)
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)
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)
# Define some colors
BLACK = ( 0, 0, 0)
WHITE = ( 255, 255, 255)
# This is a simple class that will help us print to the screen
class TextPrint:
def __init__(self):
self.reset()
self.font = pygame.font.Font(None, 20)
def print(self, screen, textString):
textBitmap = self.font.render(textString, True, BLACK)
screen.blit(textBitmap, [self.x, self.y])
self.y += self.line_height
def reset(self):
self.x = 10
self.y = 10
self.line_height = 15
def indent(self):
self.x += 10
def unindent(self):
self.x -= 10
pygame.init()
# Set the width and height of the screen [width,height]
size = [500, 700]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("My Game")
#Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
# Initialize the joysticks
pygame.joystick.init()
# Get ready to print
textPrint = TextPrint()
# -------- Main Program Loop -----------
while done==False:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done=True # Flag that we are done so we exit this loop
# DRAWING STEP
# First, clear the screen to white. Don't put other drawing commands
# above this, or they will be erased with this command.
screen.fill(WHITE)
textPrint.reset()
# Get count of joysticks
joystick_count = pygame.joystick.get_count()
#textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
textPrint.indent()
# For each joystick:
for i in range(joystick_count):
joystick = pygame.joystick.Joystick(i)
joystick.init()
# Usually axis run in pairs, up/down for one, and left/right for
# the other.
axes = joystick.get_numaxes()
#textPrint.print(screen, "Number of axes: {}".format(axes) )
#textPrint.indent()
for i in range( axes ):
axis = joystick.get_axis( i )
textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
if i==1 and axis== -1.0:
print("Left up",axis)
if i==1 and axis > 0.3:
print("Left down",axis)
if i==0 and axis== -1:
print("Left left",axis)
if i==0 and axis > 0.3:
print("Left right",axis)
if i==4 and axis== -1.0:
print("Right up",axis)
if i==4 and axis > 0.3:
print("Right down",axis)
if i==3 and axis== -1:
print("Right left",axis)
if i==3 and axis > 0.3:
print("Right right",axis)
if i==2 and axis > 0.3:
print("LT",axis)
if i==5 and axis > 0.3:
print("RT",axis)

textPrint.unindent()
buttons = joystick.get_numbuttons()
textPrint.print(screen, "Number of buttons: {}".format(buttons) )
textPrint.indent()

for i in range( buttons ):
button = joystick.get_button( i )
textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
if i==0 and button ==1:
print("A")
if i==1 and button ==1:
print("B")
if i==2 and button ==1:
print("X")
if i==3 and button ==1:
print("Y")
if i==4 and button ==1:
print("LB")
if i==5 and button ==1:
print("RB")
if i==6 and button ==1:
print("BACK")
if i==7 and button ==1:
print("START")
if i==8 and button ==1:
print("Logitech")
if i==9 and button ==1:
print("Left GA")
if i==10 and button ==1:
print("Right GA")

textPrint.unindent()
# Hat switch. All or nothing for direction, not like joysticks.
# Value comes back in an array.
hats = joystick.get_numhats()
textPrint.print(screen, "Number of hats: {}".format(hats) )
textPrint.indent()

for i in range( hats ):
speed = 300
hat = joystick.get_hat( i )
textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
if hat==(0,1):
print("Go ahead")
setspeed()
setdirection(2)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()

if hat==(0,0):
print("Slowing down")
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)
speed = temp1
while speed > 0 :
speed = speed - 8
time.sleep(0.01)
setspeed()
if hat==(0,-1):
print("Go back")
setspeed()
setdirection(1)
if hat==(1,0) :
print("Turn right")
turnright()
if hat==(-1,0) :
print("Turn left")
turnleft()
textPrint.unindent()
#textPrint.unindent()

# ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Limit to 20 frames per second
clock.tick(20)
# Close the window and quit.
# If you forget this line, the program will 'hang'
pygame.quit ()
</pre>
*Execute it!
<code>python3 toycar.py</code>
*Plug the wireless handle receiver into the Raspberry Pi,then enjoy it!

==='''Use the Keyboard to control the toycar'''===
''' 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:
<code>sudo raspi-config</code>
{|
| [[File:DockerPi DIY Car(1).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(2).png|left|500px]]
|}
*Then choose the option on the picture
{|
|[[File:DockerPi DIY Car(7).png|left|500px]]
|}
*You can configure your wifi
*Then you need install the python3's module pygame
<code>sudo apt-get -y install python3-pygame</code>
{|
|[[File:DockerPi DIY Car(3).png|left|500px]]
|}
*You also need to install python3's smbus
<code>sudo apt-get -y install python3-smbus</code>
{|
|[[File:DockerPi DIY Car(4).png|left|500px]]
|}
*Please open the RaspberryPi's I2C
*You could install the following script to achieve the safeshut down function.
<code>wget -qO- https://git.io/fj3b9 | sudo bash</code>
''' Codes
'''
*Create a new file and named:toycar.py and paste following codes:
*Press the key of W:Go ahead
*Press the key of S:Go back
*Press the key of A:Turn left
*Press the key of D:Turn right
<pre>
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_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_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 - 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 turnright():
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 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()
#
keyboard_list = [pygame.K_w,pygame.K_s,pygame.K_a,pygame.K_d]
keys_pressed = pygame.key.get_pressed()
if keys_pressed[keyboard_list[0]]:
print("Go ahead")
speed = 200
while (speed < 300):
speed += 10
setdirection(2)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()

elif keys_pressed[keyboard_list[1]]:
print("Go back")
speed = 200
while (speed < 350):
speed += 10
setdirection(1)
setspeed()
if keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()
elif keys_pressed[keyboard_list[3]]:
print("Turn right")
turnright()
elif keys_pressed[keyboard_list[2]]:
print("Turn left")
turnleft()

elif keys_pressed[keyboard_list[3]]:
print("Turn right")
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 > 0):
time.sleep(0.01)
temp1 -= 4
decspeed()
pygame.display.update()
</pre>
*Execute it!
<code>sudo DISPLAY=:0.0 python3 toycar.py</code>
*Plug the wireless keyboard receiver into the Raspberry Pi,then enjoy it!

==FAQ==
* Q: Why can I control it when I use the handle, sometimes I can’t control it?
A: Please observe if the four lights on your handle are flashing together.If the flashing together means re-pairing,
the signal cannot be transmitted.
* Q: What is the maximum speed the car can reaching?
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