Gophercar is a DIY platform for self-driving miniature cars like Donkeycar (http://www.donkeycar.com/), but is written in the Go programming language. The idea is to make Gophercar able to run on any of the supported Donkeycar cars/hardware without any modification.
- Exceed Short Course Truck (https://www.amazon.com/Exceed-Racing-Desert-Course-2-4ghz/dp/9269802094)
- Donkeycar chassis kit(https://squareup.com/store/donkeycar/item/desert-monster-short-course-truck-or-blaze-partial-kit)
- Raspberry Pi 3 Model B+
- Raspberry Pi wide-angle camera (included in Donkeycar kit)
- PCA9685 I2C servo driver (included in Donkeycar kit)
- SSD1306 I2C OLED display (optional)
- MPU6050 I2C Accelerometer/Gyroscope (optional)
The following needs to be installed on a bootable SD card for the Raspi:
- Raspbian Stretch OS
- Go v1.10+
- OpenCV 3.4.2
- SDL2 v2.0.8+
- Movidius NCS SDK (optional)
The following OS features must be enabled:
- I2C
- Camera
You will also need to update the kernel on the Raspbian Pi to v4.14+
sudo rpi-update
- Edit your car in a sub-directory of the
carsdirectory. - To transfer your code to the car, compile it on the car, and then run it: ./runner.sh hello 192.168.1.42
This copies the code to the Raspberry Pi, compiles it on the Pi, and then executes it.
- Install the Gophercar Docker container to cross-compiling for Raspian easier, due to using binary libaries such as OpenCV/GoCV
- Compile the code to run on your car
- Copy the compiled executable to your car's controller using scp
- Execute the car code on the car controller
- Drive!
The cars directory will contain various car controller programs. Choose one to compile and put on your car controller.
