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https://github.com/sea-me-coss/ecu-control

RaspberryPi based ECU for the control of PiRacer
https://github.com/sea-me-coss/ecu-control

can-bus controller piracer pygame raspberrypi

Last synced: 3 months ago
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RaspberryPi based ECU for the control of PiRacer

Host: GitHub
URL: https://github.com/sea-me-coss/ecu-control
Owner: SEA-ME-COSS
License: cc-by-sa-4.0
Created: 2024-04-22T13:37:15.000Z (9 months ago)
Default Branch: master
Last Pushed: 2024-06-17T12:45:35.000Z (7 months ago)
Last Synced: 2024-10-11T16:41:57.510Z (3 months ago)
Topics: can-bus, controller, piracer, pygame, raspberrypi
Language: Python
Homepage:
Size: 188 KB
Stars: 0
Watchers: 0
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # About



This repository is for the **ECU-Control** part of the [Autonomous-Driving-System](https://github.com/SEA-ME-COSS/Autonomous-Driving-System) project. The ECU-Control is based on an independent RaspberryPi board and operates a physical PiRacer model vehicle. It controls the throttle and steering of the PiRacer using data received via CAN communication from the [ECU-Core](https://github.com/SEA-ME-COSS/ECU-Core).

# Requirements

- **Ubuntu 20.04**

    Install Ubuntu 20.04 for RaspberryPi using RaspberryPi OS Imager.

- **CAN HAT setup**

    Follow the instruction of [2-CH CAN FD HAT setup](https://www.waveshare.com/wiki/2-CH_CAN_FD_HAT) and enable **Single SPI Mode**.

- **Python packages**

    ```bash

    pip install piracer-py

    pip install python-can

    pip install pygame

    ```

# Usage

```bash

# Execute on the ECU-Control

sh can_setup.sh

python3 src/control.py

```

(Optional) You can check the CAN communication using keyboard controller.

```bash

# Execute on the ECU-Core

sh can_setup.sh

python3 src/keyboard_controller.py

```

When you run the controller, a small pygame window will appear. Click on it and press the WASD keys on the keyboard to operate PiRacer.

# Note

Context of CAN communication

| Message            | Purpose                | Arbitration ID |

|--------------------|------------------------|----------------|

| **steering**       | **Control**            | **0x00**       |

| **throttle**       | **Control**            | **0x01**       |

| x position         | GPS                    | 0x02           |

| y position         | GPS                    | 0x03           |

| orientation        | GPS                    | 0x04           |

| headunit start     | Autonomous driving     | 0x05           |

# Reference

- [Waveshare PiRacer](https://www.waveshare.com/wiki/PiRacer_AI_Kit)