Published May 16, 2019

Autonomous Driving Car

Curious about autonomous driving, AI and neural networks? Build your own autonomous driving car and get your hands on these topics!

IntermediateFull instructions provided8 hours6,998

Things used in this project

Hardware components

Infineon Boot Kit XMC1100 (Arduino shield compatible)

Infineon DC Motor Control Shield with BTN8982TA

Reely Onroad-Chassis 1:10

Reely 1:10 Wheels

Brushed Motor Carson Modellsport Cup

Savöx Standard-Servo SC-0254MG Digital-Servo

LiPo 7.4 V 5000 mA

Raspberry Pi 3 Model B

Raspberry Pi Camera Module

SanDisk Extreme 32 GB microSDHC

batterie connector

Software apps and online services

donkey car

Hand tools and fabrication machines

Soldering iron (generic)

3D Printer (generic)

double extruder

Multitool, Screwdriver

Crimp Tool, Heavy-Duty

Story

This RC car is equipped with a camera, a Raspberry Pi, an XMC1100 Boot Kit and the DC Motor Control Shield with BTN8982TA. Based on the Donkey Car project, the Raspberry Pi is able to safe image-, throttle- and steering data which will be processed to train a neuronal network. The trained network will be placed on the Raspberry to drive the car autonomously.

The DC motor and steering-servo are controlled via the XMC1100 Boot Kit. The Software is developed in the Arduino IDE and can be found below. It is programmed to imitate the PWM shield used within the Donkey Car project. Therefore you don’t have to change the Donkey Car software on the Raspberry Pi. The DC Motor Control Shield with BTN8982TA makes it easy to control the DC motor. You can find the library to do so on our GitHub page and adapt the motor control to your needs.

You dare to build one? Find detailed instructions HERE.

Schematics

Code

XMC1100 code

#include <IfxMotorControlShield.h>


// servo pin
int servo = 8;

// variables for servo control
int pwm;
int Servo_pos = 0;
int Servo_pos_aktuell;

// serial communication
String inString = "";
int neg;

//variables for motor control 
int speedvalue = 0;
int speedvalue_aktuell;
int speedflag = false;


void servoMove(int servo, int Servo_pos){
  pwm = (Servo_pos) + 1500;
  digitalWrite(servo, HIGH);
  delayMicroseconds(pwm);
  digitalWrite(servo, LOW);
}

//i2c communication
int on1;
int off1;

int on0;
int off0;

int r;        //register
int x;        //value

int received;

#include <Wire.h>

void setup() {
//communications
  Wire.begin(64);                // join i2c bus with address #8
  Wire.onReceive(receiveEvent);  // register event
  Wire.onRequest(requestEvent);  // register event
  Serial.begin(115200);          // start serial for output
  delay(10);
//servo
 pinMode(servo, OUTPUT);
 servoMove(servo, Servo_pos);

//motor   
 if(ifxMcsBiDirectionalMotor.begin())
    Serial.println("Init Fail!");
  Serial.println("Initialising speed");
  ifxMcsBiDirectionalMotor.setBiDirectionalSpeed(speedvalue);
  Serial.println("Starting motor");
  ifxMcsBiDirectionalMotor.start();

  
  Serial.println("Setup Done");
}

void loop() {
    
if(received == 0) {
  Serial.println("fail!");
}
  
//servo
  if(abs(Servo_pos_aktuell - Servo_pos)<200){
  servoMove(servo, Servo_pos);   
  }
Servo_pos_aktuell = Servo_pos; 

//motor
 if(abs(speedvalue_aktuell - speedvalue)<200){
 ifxMcsBiDirectionalMotor.setBiDirectionalSpeed(speedvalue*0.4);
    //if speed was set to 0, the motor has to be restarted!
      if(!ifxMcsBiDirectionalMotor.getRunning())
        ifxMcsBiDirectionalMotor.start();   
  }
speedvalue_aktuell = speedvalue; 
 
  delay(50);
 
}

// function that executes whenever data is requested by master
// this function is registered as an event, see setup()
void requestEvent() {
  Wire.write(0x01); // respond with 0x01 as expected by master
  Serial.println("0x01");
}

// function that executes whenever data is received from master
// this function is registered as an event, see setup()
void receiveEvent(int howMany) {
  if(howMany == 2){
  received = true;
  }
  else{
    received = false;
  }
     
// read
  while (1 < Wire.available()) { // loop through first of two bytes
      r = Wire.read();           // receive register byte
  }
      x = Wire.read();           // receive Value byte as an integer


//process
  switch (r) {  
    case 8:
      off0 = x;
      speedflag = true;
      break;
    case 9:
      if (speedflag == true) {
      off0 = off0+(x<<8);
      speedvalue = off0-255;
      speedflag = false;
      }   
      break;
    case 12:
      off1 = x;
      break;
    case 13:
      off1 = off1+(x<<8);
      Servo_pos = off1-600;
      break;   
 }
}