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| ==RC Car details== | | ==RC Car details== |
| *RC Car hardware:
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| ::Here is a detailed list of the hardware used in the project:
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| {| class="wikitable" style="margin-left: auto; margin-right: auto; border: none;"
| | ==ROS Project== |
| |+ RC Car BOM(Bill of Material)
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| ! scope="col" style="width: 60px;" | Part Name
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| ! scope="col" style="width: 60px;" | Part Number
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| ! scope="col" style="width: 60px;" | Datasheet
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| ! scope="col" style="width: 60px;" | Manufacturer
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| ! scope="col" style="width: 25px;" | Qty
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| ! scope="col" style="width: 80px;" | Unit Price
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| ! scope="col" style="width: 60px;" | Purchase Link
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| ! scope="col" style="width: 500px;" | Purpose in RC Car
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| | ESC||SBEC ESC 60a||[http://www.hobbywing.com/goods.php?id=358 Datasheet]||QuicRun||1||$19.99||[https://www.ebay.com/p/Hobbywing-30120201-QuicRun-1060-Waterproof-Brushed-SBEC-ESC-60a/1678055620?iid=272429528837&chn=ps Purchase Link]||Controls the DC motor using PWM controlled by Raspberry Pi
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| | PWM Controller||PCA9685||[https://cdn-shop.adafruit.com/datasheets/PCA9685.pdf Datasheet]||Adafruit||1||$14.95||[https://www.adafruit.com/product/815?gclid=EAIaIQobChMIwPy46dWe4AIVlshkCh3tiQkxEAQYASABEgI6lPD_BwE Purchase Link]||Raspberry Pi doens't have many PWM GPIOs, therefore we use this module to control multiple PWM devices. Connects to RP via I2C protocol
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| | USB Module||HW384||[https://www.amazon.com/HW384-Step-Down-Module-Portable-Supply/dp/B07KKF51TV Datasheet]||SheoIseven||1||$6.99||[https://www.amazon.com/HW384-Step-Down-Module-Portable-Supply/dp/B07KKF51TV Purchase Link]|| Connects the LiPo battery to RPi. Includes a 5V regulator
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| | Motor||RS540||[http://www.alphalanding.com/rc-track/rs_540rhsh.pdf Datasheet]||Tamiya||1||$17.30||[https://www.amazon.com/Tamiya-RS540-Sport-Tuned-Motor/dp/B00061HB0K Purchase Link]||DC motor for the rear wheels
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| | Blue/Red LED||APM External||[https://hobbyking.com/en_us/kingduino-apm-external-led-module.html Datasheet]||Kingduino||1||$4.04||[https://hobbyking.com/en_us/kingduino-apm-external-led-module.html Purchase Link]||Indicates state of the relay
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| | Main Switch||T/XT60/EC3 Plug||[https://usa.banggood.com/High-Current-LiPo-Battery-Switch-With-Optional-T-PlugXT60EC3-Plug-p-1056050.html?gmcCountry=US¤cy=USD&createTmp=1&utm_source=googleshopping&utm_medium=cpc_bgcs&utm_content=zouzou&utm_campaign=pla-usg-all-pc&ID=521833&cur_warehouse=CN Datasheet]|| Banggood||1||$5.60||[https://usa.banggood.com/High-Current-LiPo-Battery-Switch-With-Optional-T-PlugXT60EC3-Plug-p-1056050.html?gmcCountry=US¤cy=USD&createTmp=1&utm_source=googleshopping&utm_medium=cpc_bgcs&utm_content=zouzou&utm_campaign=pla-usg-all-pc&ID=521833&cur_warehouse=CN Purchase Link]||Turns on the ESC and relay
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| | Chasis||TT01 TT01E||[https://www.amazon.com/Aluminium-Carbon-Shaft-Drive-Touring/dp/B07496B5HQ/ref=sr_1_13?ie=UTF8&qid=1546999189&sr=8-13&keywords=tamiya+tt01 Datasheet]||Radcat||1||$128.49||[https://www.amazon.com/Aluminium-Carbon-Shaft-Drive-Touring/dp/B07496B5HQ/ref=sr_1_13?ie=UTF8&qid=1546999189&sr=8-13&keywords=tamiya+tt01 Purchase Link]||Car skeleton
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| | RGB LED||N/A||[https://www.makerlab-electronics.com/product/rgb-led-module/ Datasheet]||MakerLab||1||$34.75||[https://www.makerlab-electronics.com/product/rgb-led-module/ Purchase Link]||Indicates drive mode
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| | Relay||KR1201A-4||[https://www.aliexpress.com/item/433Mhz-Universal-Wireless-Remote-Control-Switch-DC12V-10A-1CH-relay-Receiver-Module-with-RF-Remote-433/32654946482.html Datasheet]||QIACHIP||1||$7.69||[https://www.aliexpress.com/item/433Mhz-Universal-Wireless-Remote-Control-Switch-DC12V-10A-1CH-relay-Receiver-Module-with-RF-Remote-433/32654946482.html Purchase Link]||Enables ESC. In the system for safty. Controlled by a remote controller
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| |Raspberry Pi||Model 3 b+||[https://www.terraelectronica.ru/pdf/show?pdf_file=%252Fds%252Fpdf%252FT%252FTechicRP3.pdf Datasheet]||Raspberry Pi||1||$38.30||[https://www.amazon.com/ELEMENT-Element14-Raspberry-Pi-Motherboard/dp/B07BDR5PDW/ref=sr_1_3?s=pc&ie=UTF8&qid=1549172590&sr=1-3&keywords=raspberry+pi+3+b%2B Purchase Link]||Computer controlling all components
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| | RP Camera||913-2664||[https://cdn.sparkfun.com/datasheets/Dev/RaspberryPi/RPiCamMod2.pdf Datasheet]||Raspberry Pi||1||$23.90||[https://www.amazon.com/Raspberry-Pi-Camera-Module-Megapixel/dp/B01ER2SKFS Purchase Link]||Camera compatible with RPi
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| | "11.1 V 3 cell LiPo"||XT-60||[https://hobbyking.com/en_us/turnigy-battery-3000mah-3s-20c-lipo-pack-xt-60.html Datasheet]||Turnigy||1||$16.37||[https://hobbyking.com/en_us/turnigy-battery-3000mah-3s-20c-lipo-pack-xt-60.html Purchase Link]||Battery powering the system
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| | Voltage Reader||EC||NA||BX100||1||$13.39||[https://www.amazon.com/Ec-voltage-Meter-Battery-Voltage/dp/B073ZKFMGQ Purchase Link]|| Reads LiPo voltages for each cell.
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| | Servo Motor||MG995||[https://usa.banggood.com/MG995-High-Torgue-Mental-Gear-Analog-Servo-p-73885.html?gmcCountry=US¤cy=USD&createTmp=1&utm_source=googleshopping&utm_medium=cpc_bgcs&utm_content=zouzou&utm_campaign=pla-usg-all-pc&cur_warehouse=CN Datasheet]||N/A||1||$5.21||[https://usa.banggood.com/MG995-High-Torgue-Mental-Gear-Analog-Servo-p-73885.html?gmcCountry=US¤cy=USD&createTmp=1&utm_source=googleshopping&utm_medium=cpc_bgcs&utm_content=zouzou&utm_campaign=pla-usg-all-pc&cur_warehouse=CN Purchase Link]||Used to control steering
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| |}
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| *RPLidar
| | ==Helpful resources== |
| ::'''''What is an RPLidar?''''' Lidar is a device that measures the distance to a target by sending pulsed laser beams and receiving the reflected beams with a sensor. The accuracy of lidar is higher than other sensors of similar nature, such as an IR sensor or an ultrasonic sensor. An RPLidar is a 360-degree 2D lidar.
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| ::'''''What are the different types of RPLiDAR?'''''
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| ::*The RPLidar used in our project is the A1M8 12M range model. A1M8 is based on laser triangulation ranging principle and uses high-speed version acquisition and processing hardware. This system measures distance data more than 8000 times per second.
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| ::*The other model
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| ::*The other other model
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| *RPLiDAR and Raspberry Pi
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| *ROS and RPLidar
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| ::Upon every connection to a USB port, sudo permission to access the serial port for the lidar must be granted. In the Linux operating system, the command to list the responsible port and granting permission would be the following:
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| :::<code>ls -l /dev |grep ttyUSB</code><span style="color:blue">#lists the port connected to the LiDAR</span>
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| :::<code>sudo chmod 666 /dev/ttyUSB0</code><span style="color:blue">#grants permission to write to USB0</span>
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| | |
| ::To test the RPLiDAR within ROS, we can run the rplidar node and view the realtime readings and mappings:
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| :::<code>roslaunch rplidar_ros view_rplidar.launch</code><span style="color:blue">#running the RPLiDAR live feed
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| [[File:RPLidar_room.png|thumb|center|alt=Alt|upright=2|An example of an RPLiDAR scanning the room]]
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| :::<code>rosrun rplidar_ros rplidarNodeClient</code><span style="color:blue">#read values from LiDAR</span>
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| The lidar scan values can be read by subscribing to rplidar_node topic:<br>
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| [[File:rplidar_live_read.png|thumb|center|alt=Alt|upright=2.5| A live read of the RPLiDAR Scans and relevent topics]]
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| Viewing graphs of ongoing scans on the roscore primary node can be viewed using a ros rqt graph generator:<br>
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| [[File:rqt_graph.png|thumb|center|alt=Alt|upright=1| A rqt graph of RPLiDAR subscriber and publisher to the scan topic]]
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