SG Tidwell
Published © GPL3+

Raspberry Pi Autonomous RC Car

My first attempt at building an autonomous RC car with a Raspberry Pi 3.

EasyWork in progress10 hours651
Raspberry Pi Autonomous RC Car

Things used in this project

Hardware components

Monster Rockslide RC car
×1
Raspberry Pi 3 Model B
Raspberry Pi 3 Model B
×1
Dual H-Bridge motor drivers L293D
Texas Instruments Dual H-Bridge motor drivers L293D
×2
18650 Batteries
×1
Breadboard (generic)
Breadboard (generic)
×2
Jumper wires (generic)
Jumper wires (generic)
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×2
Resistor 1k ohm
Resistor 1k ohm
×2
Resistor 2.21k ohm
Resistor 2.21k ohm
×2
18650 Battery Holders
×1

Software apps and online services

Raspbian
Raspberry Pi Raspbian

Story

Read more

Schematics

The component layout

Raspberrycar schematic1 bb s5wmg35de2

Code

First Try code

Python
If anyone has suggestions on how to make this better, I welcome any and all comments
import RPi.GPIO as GPIO
import time



GPIO.setmode(GPIO.BOARD)

turnlefta =   8
turnleftb =   10
turnleftenable =   12

turnrighta = 33
turnrightb = 35
turnrightenable = 37

forwarda = 36
forwardb = 38
forwardenable = 40

trigger = 3
echo = 5

trigger1 = 7
echo1 = 11

GPIO.setup(trigger, GPIO.OUT)
GPIO.setup(echo, GPIO.IN)
GPIO.setup(trigger1,GPIO.OUT)
GPIO.setup(echo1, GPIO.OUT)
GPIO.setup(turnlefta, GPIO.OUT)
GPIO.setup(turnleftb, GPIO.OUT)
GPIO.setup(turnleftenable, GPIO.OUT)
GPIO.setup(turnrighta, GPIO.OUT)
GPIO.setup(turnrightb, GPIO.OUT)
GPIO.setup(turnrightenable, GPIO.OUT)
GPIO.setup(forwarda, GPIO.OUT)
GPIO.setup(forwardb, GPIO.OUT)
GPIO.setup(forwardenable, GPIO.OUT)
pwm=GPIO.PWM(40,100)
turn = GPIO.PWM(37,100)

J = True

while J:
    GPIO.output(trigger,False)
    GPIO.output(trigger1,False)
    time.sleep(.5)
    
    GPIO.output(trigger,True)
    time.sleep(0.00001)
    GPIO.output(trigger, False)

    GPIO.output(trigger1,True)
    time.sleep(0.00001)
    GPIO.output(trigger1,False)

    while GPIO.input(echo)==0:# and GPIO.input(echo1) == 0:
        pulse_start = time.time()
        #pulse1 = time.time()
    while GPIO.input(echo)==1:# and GPIO.input(echo1) == 1:
        pulse_end = time.time()
        #pulse1end = time.time()

    pulse_duration = pulse_end - pulse_start
    #pulse1duration = pulse1end - pulse1
    distance = pulse_duration * 17150
    distance = round(distance, 2)
    #distance1 = pulse1duration * 17150
    #distance1 = round(distance1, 2)

    if distance > 100:
        pwm.start(0)
        GPIO.output(36,True)
        GPIO.output(38, False)
        pwm.ChangeDutyCycle(30)
        GPIO.output(40, True)
        print("distance is ", distance)
    elif distance >=75 <= 99:
        pwm.ChangeDutyCycle(40)
        GPIO.output(turnrighta, False)
        GPIO.output(turnrightb, True)
        turn.ChangeDutyCycle(80)
        GPIO.output(turnrightenable,True)
        time.sleep(1)
        GPIO.output(turnrightenable,False)
        GPIO.output(turnrighta, False)
        GPIO.output(turnrightb, False)
        print("turn distance ", distance)
    elif distance >=30 <=74:
        GPIO.output(36, False)
        GPIO.output(38,False)
        GPIO.output(40, False)
        time.sleep(3)
        GPIO.output(36, False)
        GPIO.output(38, True)
        pwm.ChangeDutyCycle(50)
        GPIO.output(40, True)
        GPIO.output(turnlefta, True)
        GPIO.output(turnleftb, False)
        GPIO.output(turnleftenable, True)
        time.sleep(1)
        GPIO.output(36,False)
        GPIO.output(38,True)
        GPIO.output(40,False)
        GPIO.output(turnlefta, False)
        GPIO.output(turnleftb, False)
        GPIO.output(turnleftenable, False)
        print("reverse distance ", distance)
    elif distance <= 29:
        GPIO.output(36, False)
        GPIO.output(38,False)
        GPIO.output(40, False)
        GPIO.output(turnleftenable, False)
        GPIO.output(turnrightenable, False)
        time.sleep(1)
        J = False
        print("Program has Exited")
    
            



      
    
   # if distance > 30 and distance < 300:
        

    #    pwm.start(0)

     #   GPIO.output(36, True)
      #  GPIO.output(38, False)
       # pwm.ChangeDutyCycle(50)

  #      GPIO.output(40, True)

   # if distance > 20 and distance < 50:
    #    pwm.ChangeDutyCycle(30)

  #  if distance < 10:
   #     GPIO.output(40, False)
    #    time.sleep(6)

     #   GPIO.output(36,False)
      #  GPIO.output(38, True)
       # pwm.ChangeDutyCycle(50)
        #GPIO.output(40,True)

 #       time.sleep(3)

  #      GPIO.output(40,False)
print("the current distance is:", distance)
GPIO.Cleanup
        

Credits

SG Tidwell

SG Tidwell

1 project • 1 follower
SQL slinging code monkey by day, guitar playing gamer, tinker by night.

Comments