Quick demo video and current status

I just figured out that I always show my work in progress, but I never show the car when it is working. So here it is, a small video showing the car as its current status.

I totally rewrote the iOS application. I wanted to make some big changes with the software architecture, and I decided it was a good opportunity for me to learn deeply the Swift language. So I rewrote everything from Objective-C to Swift.

And for those who don’t want to read my previous post and want to know what I am talking about : I took a RC car, removed the radio part on the car, and replaced it by my own hardware. This now allows me to pilote the car with an iPhone or an iPad, and with a video feedback from the camera I installed on the car. And here is how it works :

  • a standard RC car I bought (not too cheap, it has to have standard components and connexions, like a standard servo motor and brushless motor). I removed the radio part and controls now directly the brushless motor and the servo motor for the direction.
  • a Raspberry Pi B+, running with Arch Linux OS, which is lighter than the Raspbian installed by default on a RPi.
  • on the top of the Raspberry Pi B+, a daughter board I conceived and made manufactured. On this board, there is :
    • power management : it take the 12V from the battery, makes +5V and +3,3V for the RPi, the servo power, and the PIC. It is done with a PWM power controller so there isn’t too much power loss from the battery, and not too much heat dissipation needed.
    • dsPIC33 : a 16 bits dsPIC which manages :
      • the control of the servo and the motor; it generated the 1ms to 2 ms pulse required
      • PID control of the motor: there is a sensor coming back from the motor to the PIC for that, but it is not yet implemented in software.
      • power monitoring : there is a divisor bridge on the +12V coming from the battery, and going to an ADC of the PIC so the battery level is monitored. This currently works but I am still calibrating it.
      • status leds : the PIC just blinks the status leds
    • Status leds :
      • 1 indicating if the hardware is powered
      • 1 indicating if the PIC is running
      • 1 indicating if the RPi is running and communicating with the PIC
  • A camera on the top of the car; it is the standard camera sold for the Raspberry Pi. The video streaming is made with GStreamer, it is an open source library made for video streaming. It is quite light, it has been ported on almost all possible OS (including Arch Linux and iOS for my needs); and most important it can achieve streaming with a very low latency.
  • a headlight at the front of the car. It is composed by a small PCB with 8 white leds. And it is here not only for fun, but when it test the car in low light conditions, it is very useful !
  • An iOS device. My Application works on both iPhone or iPad. Currenlty the application has the following features :
    • display the video streaming coming from the car, with a very low latency
    • allow to control the motor and the direction of the car. There is also a manual break, and a command to change the lights on the car, or even flash the headlights.
    • modify the motor cartography, this allows me to decrease the maximum speed of the car (which is too much powerful, especially when used inside), and to give a little more power when the starting the car. But for sure the possibilities are endless, the cartography is fully configurable.
  • A bluetooth gamepad, made for iOS, it is optional, but it is much more easy to control the car with rather than with the iOS device itself. I won such a device several month ago; it is a Mad Catz C.T.R.L.i gamepad, and it works great.

I thinks that’s it for now. So the only thing in the list above which does not work yet is the PID controller for the motor, everything else works. I also have to mention that each system (the Raspberry Pi, the iOS application and the PIC) has its own failure management, each of them is able to detect if it is still communicating with the other parts, and if there is a problem of communication, the car is stopped, and the servo and the motor are put in an idle position. The iOS application and the Linux software react in 1 second, and the PIC reacts in 200ms.

Sorry for the long post, and I don’t have any potato. Next step : the PID controller, stay in touch.

Integration in progress

I am currently finishing the software of the dsPIC for my new hardware.
I am integrating the features progressively, and it is almost done. I can (eventually again) control the motor and the steering of the car.

The longest part was to develop the SPI drivers on both the Raspberry Pi and the PIC. I chose to used the 2nd SPI peripheral of the RPi, which is part of the auxiliary peripherals (called universal SPI master in the datasheet), and does not work at all like the main SPI controller (which of course I did not check before…). And as usual the documentation of the RPi was not very precise. The most weird problem I faced is that the RPi SPI outputs the LSB of the data first by default, which is very unusual for a SPI bus. There is a parameter to output MSB 1st, but when you choose it, it outputs the MSB of the 32 bits buffer register, and I had configured to output a 16 bit value, so all I had was some zeros on the bus. It took me some time to understand the trick.

As you can see on the pictures, I also added a light on the front of the car, and this is not just for fun, I often perform my tests when it is dark outside, and I cannot see anything on the camera if there isn’t some good light.

I still have to finish and calibrate the software which measure the battery level, and I have to develop the PID controller for the motor, I did not start this part at all.

PCB for daughter board received

I just received today the PCB for the daughter board for my RC car I was talking about in the previous post.  I am glad because the manufacturing looks good and everything is well aligned. I was a little bit wondering about that because this was the first time I had my own PCB manufactured.

IMG_1816

This is a perfect timing because today I was not working, so I soldered everything (too bad I haven’t received my new Weller soldering station yet) .

I had several problems, fortunately nothing too serious. For several parts the size of the hole was too small, so I had to drill a bigger hole, trying to keep the pads intact. And for some other parts the footprint was too small, so I had some troubles to place my components. (You can see on the picture that it is a little bit tight on the “power” zone :-/ )

IMG_1821

I am still testing the board. The power part is working fine, I have the +5V and +3,3V from the +12V input. The PIC is also working, I can communicate with it when the debugger is plugged, but I might have a problem with the MCLR pull up, I am not sure yet. I might also have a bigger problem with the oscillator, I cannot switch the PIC to the external oscillator configuration yet; I don’t know why and I am still debugging and trying to figure out; unfortunately I don’t have any oscilloscope at home to check the hardware.

Most important : the LEDs are working fine ! Yes I love make blinking LEDs (I’m just joking, hey !).

So I still have to fixe the problem with the oscillator, and then I will have to develop most everything for the software on the PIC (I barely started), plug it with the Raspberry Pi, and integrate everything.