SunFounder PiCar-S User manual

Preface
About SunFounder
SunFounder is a technology company focused on Raspberry Pi and Arduino open
source community development. Committed to the promotion of open source culture,
we strive to bring the fun of electronics making to people all around the world and
enable everyone to be a maker. Our products include learning kits, development
boards, robots, sensor modules and development tools. In addition to high quality
products, SunFounder also offers video tutorials to help your own project. If you have
interest in open source or making something cool, welcome to join us! Visit
www.sunfounder.com for more!
About the PiCar-S
The PiCar-S is a cool smart car that can work with Raspberry Pi 3 model B, 3 model B+,
and 4 model B. Equipped with three sensor modules including ultrasonic obstacle
avoidance, light follower, and line follower, you can better learn the programming on
how to control the car.
In this manual, we will show you how to build the PiCar-S via description, illustrations
of physical components, in both hardware and software respects. You will enjoy
learning how all this work. You may visit our website www.sunfounder.com to
download the related code and view the user manual on LEARN -> Get Tutorials and
watch related videos under VIDEO, or clone the code on our page of github.com at
https://github.com/sunfounder/SunFounder_PiCar-S
You are welcome to pull requests and issue posts on our page on Github.
Free Support
If you have any TECHNICAL questions, add a topic under FORUM section on our
website and we'll reply as soon as possible.
For NON-TECH questions like order and shipment issues, please send an email
to [e-mail]. You're also welcomed to share your projects on
FORUM.

Contents
Components List.......................................................................................................................... 1
Structure Plates........................................................................................................................ 1
SunFounder SF006C Servo x 1............................................................................................ 2
Mechanical Fasteners............................................................................................................. 3
Wires........................................................................................................................................... 4
PCB.............................................................................................................................................. 4
Other Components................................................................................................................. 5
Tools............................................................................................................................................ 6
Introduction...................................................................................................................................7
Building the Car............................................................................................................................8
Front Half Chassis....................................................................................................................8
Front Wheels.............................................................................................................................8
Steering Part...........................................................................................................................10
Upper Plate............................................................................................................................. 11
Battery Holder....................................................................................................................... 12
Rear Wheels (Screws)...........................................................................................................13
PCB Assembly........................................................................................................................ 14
Rear Wheels (Driving).......................................................................................................... 15
Circuits Building......................................................................................................................... 17
Connect the Power............................................................................................................... 17
Connect the Modules.......................................................................................................... 18
Connect the Servo................................................................................................................ 19

Connect the Motor............................................................................................................... 20
Get Started with Raspberry Pi................................................................................................22
If You Have A Screen............................................................................................................23
－ Required Components..............................................................................................23
－ Procedures................................................................................................................... 23
If You Have No Screen......................................................................................................... 30
－ Burn System.................................................................................................................30
－ Connect the Raspberry Pi to the Internet........................................................... 31
－ Start SSH.......................................................................................................................32
－ Get the IP Address..................................................................................................... 32
－ Use the SSH Remote Control..................................................................................33
Servo Configuration..................................................................................................................37
Get Source Code................................................................................................................... 37
Go to the Code Directory................................................................................................... 37
Install the Environment via Script.....................................................................................38
Set the Servo to 90 Degrees.............................................................................................. 38
Build the Rest of the Car..................................................................................................... 40
Calibration................................................................................................................................... 43
Calibrate the Servo............................................................................................................... 43
Calibrate the Motors............................................................................................................ 44
Arming the Car!..........................................................................................................................46
Obstacle Avoidance..............................................................................................................47
－ How it Works...............................................................................................................47
－ Procedures................................................................................................................... 47
－ Code Explanation for ultra_sonic_avoid.py......................................................... 49

Light Following...................................................................................................................... 52
－ How It Works...............................................................................................................52
－ Procedures................................................................................................................... 52
－ Code Explanation for light_follower.py................................................................55
Line Following........................................................................................................................59
－ How it works................................................................................................................59
－ Procedures................................................................................................................... 59
－ Code Explanation of line_follower.py................................................................... 63
Combination............................................................................................................................... 68
－ How it works................................................................................................................68
Appendix 1: Installing Manually............................................................................................ 70
Appendix 2: Modules................................................................................................................71
Robot HATS............................................................................................................................ 71
PCA9865.................................................................................................................................. 72
Motor Driver Module...........................................................................................................73
Line Follower Module.......................................................................................................... 74
Light Follower Module........................................................................................................ 75
Ultrasonic Obstacle Avoidance Module......................................................................... 76
SunFounder SF006C Servo................................................................................................. 77
DC Gear Motor...................................................................................................................... 78
Copyright Notice...................................................................................................................78

1
Components List
Structure Plates
1. Upper Plate x 1
2. Front Half Chassis x 1
3. Hex Front Wheel Fixing Plate x 6
4. Ultrasonic Support x 1
5. Bearing Shield x 6
6. Steering Linkage x 1
7. Steering Connector x 2
8. Ultrasonic Connector x 1
9. Back Half Chassis x 1
10. Sensor Connector x 1

2
SunFounder SF006C Servo x 1
1. Servo x 1
2. 1-arm Rocker Arm x 1
3. arm Rocker Arm x 1
4. 4-arm Rocker Arm x 1
5. Rocker Arm Fixing Screw x 1
6. Rocker Arm Screw

3
Mechanical Fasteners
Name Component Qty.
M2x8 Screw 2
M2.5x6 Screw 4
M2.5x12 Screw 8
M3x8 Screw 8
M3x8 Countersunk Screw 2
M3x10 Screw 9
M3x25 Screw 4
M4x25 Screw 2
M2 Nut 2
M2.5 Nut 12
M3 Nut 23
M4 Self-locking Nut 2
M2.5x8 Copper Standoff 8
M3x25 Copper Standoff 8
4x11x4 F694ZZ Flange
Bearing 2

4
Wires
100mm 5-Pin
Jumper Wire 1
50mm 4-Pin
Jumper Wire 1
50mm 2-Pin
Jumper Wire 1
100mm 2-Pin
Jumper Wire 1
200mm 5-Pin
Jumper Wire 1
200mm 4-Pin
Jumper Wire 1
200mm 3-Pin
Jumper Wire 1
PCB
Robot HATS 1

5
PCA9685 PWM
Driver 1
Motor Driver
Module 1
5-CH Line
Follower
Module
1
Ultrasonic
Obstacle
Avoidance
Module
1
Light Follower
Module 1
Other Components
2x18650 Battery
Holder 1

6
DC Gear Motor 2
Rear Wheel 2
Front Wheel 2
Ribbon (30cm) 1
Tools
Cross
Screwdriver 1
Cross Socket
Wrench 1
M2.5/M4 Small
Wrench 1
M2/M3 Small
Wrench 1