I.Objective
II.Parts and Devices
III.Hardware Installation
IV.Circuit Connection
V.Software Installation
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The programming language in this project is C/C++. If you want to use Python to program this project, here is the tutorial link:
https://osoyoo.com/2020/08/01/osoyoo-raspberry-pi-v2-0-car-lesson-3-obstacle-avoidance/
No. | Picture | Device | Qty. | Accessories | Link |
1 | Ultrosonic Sensor | 1 | M1.4*8 Screw x 4 M1.4 Nut x 4 |
Click here to buy | |
2 | Servo Motor | 1 | M2.2*8 Self Tapping Screw x 2 M2*4 Self Tapping Screw x 1 |
Click here to buy | |
3 | Mount Holder for Ultrasonic Sensor | 1 | M1.4*8 Screw x 4 M1.4 Nut x 4 M2*4 Self Tapping Screw x 1 |
Click here to buy | |
4 | 20Pin jumper wire female to female 20cm | some | |||
5 | Philips screwdriver | 1 | Click here to buy |
Step 1: You must complete Lesson 1 basic frame work
Step 2: Install servo motor at the front of upper car chassis with 2pcs M2.2*8 Self Tapping Screws
Step 3: Install Ultrasonic Module to mount holder with 4pcs M1.4*8 screw and M1.4 nuts
Step 4: Install mount holder for Ultrasonic Module on servo motor with M2*4 Self Tapping screw
Connect SG90 servo motor to PWM 15 of PCA9685 compatible module, and connect GND and VCC of ultrasonic module to GND and V+ of PCA9685 compatible module, then connect TRIG and ECHO of ultrasonic module to GPIO20 and GPIO21 of raspberry pi as following graph (Remember : DO NOT remove any existing wires installed in Lesson 1 ):
Step 1) If you have installed PCA9685 C library in Lesson 1, you can skip this step. Otherwise you need install the library by typing following command:
wget http://osoyoo.com/driver/p3-car/pca9685.tar.gz tar -zxvf pca9685.tar.gz
Step 2) Download line tracking C code by typing following command:
wget http://osoyoo.com/driver/p3-car/lesson3.c
Step 3)Compile Lesson 3 code by typing following command:
gcc -o lesson3 lesson3.c pca9685/pca9685.c -lwiringPi
Step 4) Type following command to run the program:
./lesson3
Your servo will rotate the ultrasonic sensor to front position for 1 seconds. If your sensor is not facing front direction, please turn off the battery or press Ctrl-C key to stop the program. Then remove the sensor from servo and re-install it, make sure it faces front and fix the position with screw, now your can type same command ./lesson3 and run the program again.
Now the car will automatically make obstacle avoidance auto driving.
DownLoad Url osoyoo.com