This package will provide you with a simple abstraction layer for the PiRacer development platform. You will be able to control the powertrain and the steering as easy as possible.
I also provides an easy way to grab images from the camera (based on v4l2 and opencv)
PiRacer Standard and Pro architecture overview:
Tested on the following Hardware:
- Raspberry Pi 4 Model B 4GB
Tested on the following distributions:
- Raspberry Pi OS Lite "Bullseye" (64-Bit)
- Camera is not working at the moment
- Ubuntu Server 22.04.1 LTS (64-Bit)
- Ubuntu Server 20.04.5 LTS (64-Bit)
If you run Ubuntu, add the following sources first:
sudo -s
echo "deb http://archive.raspberrypi.org/debian/ buster main" >> /etc/apt/sources.list
apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7FA3303E
apt update
exit
If you're facing messages like the following when trying to install packages via apt:
pi@ubuntu:/home/pi# sudo apt install PACKAGES...
Waiting for cache lock: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 1807 (unattended-upgr)
Disable the unattended upgrade feature by running the following command to disable:
sudo dpkg-reconfigure unattended-upgrades
sudo apt update
sudo apt install \
gcc \
v4l-utils \
i2c-tools \
raspi-config \
python3-dev \
python3-setuptools \
python3-venv \
libopencv-dev
On Ubuntu it is necessary to explicitly mount the boot partition before enabling the i2c controller and camera:
mount /dev/mmcblk0p1 /boot/
Use the raspi-config tool to enable the following peripherals:
- i2c: Interface Options > I2C
- Camera: Interface Options > Camera
Afterwards, reboot:
sudo reboot
cd ~
mkdir piracer_test/
cd piracer_test/
python3 -m venv venv
source venv/bin/activate
pip install piracer-py
The following examples will show the basic functionality of the piracer-py package. Make sure the virtual environment from step Install piracer-py package is activated.
This basic example will test the power train and the steering.
Paste the following code into basic_example.py
import time
from piracer.vehicles import PiRacerPro
if __name__ == '__main__':
piracer = PiRacerPro()
# piracer = PiRacerStandard()
# Forward
piracer.set_throttle_percent(0.2)
time.sleep(2.0)
# Brake
piracer.set_throttle_percent(-1.0)
time.sleep(0.5)
piracer.set_throttle_percent(0.0)
time.sleep(0.1)
# Backward
piracer.set_throttle_percent(-0.3)
time.sleep(2.0)
# Stop
piracer.set_throttle_percent(0.0)
# Steering left
piracer.set_steering_percent(1.0)
time.sleep(1.0)
# Steering right
piracer.set_steering_percent(-1.0)
time.sleep(1.0)
# Steering neutral
piracer.set_steering_percent(0.0)
Run it with:
python basic_example.py
The following example will let you control the PiRacer with the ShanWan Gamepad that is shipped with the PiRacer package. Make sure the dongle is connected to your Raspberry Pi.
Paste the following code into rc_example.py:
from piracer.vehicles import PiRacerPro
from piracer.gamepads import ShanWanGamepad
if __name__ == '__main__':
shanwan_gamepad = ShanWanGamepad()
piracer = PiRacerPro()
# piracer = PiRacerStandard()
while True:
gamepad_input = shanwan_gamepad.read_data()
throttle = gamepad_input.analog_stick_right.y * 0.5
steering = -gamepad_input.analog_stick_left.x
print(f'throttle={throttle}, steering={steering}')
piracer.set_throttle_percent(throttle)
piracer.set_steering_percent(steering)
Run it with:
python rc_example.py
With the following example you can grab and save images from the Raspberry Pi camera.
Paste the following code into camera_grab_example.py:
import cv2
from piracer.cameras import Camera, MonochromeCamera
if __name__ == '__main__':
camera = MonochromeCamera()
image = camera.read_image()
cv2.imwrite('image.png', image)
Run it with:
python camera_grab_example.py
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