SunFounder Smart Video Car Kit B+ 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 you make your own project. If you have interest in open source or making
something cool, welcome to join us!
About This Kit
The kit is suitable for the Raspberry Pi model B+, 2 model B and 3 model B.
In this book, we will show you how to build the smart car via description, illustrations of physical
components, and schematic diagrams of circuits, in both hardware and software respects.
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_Smart_Video_Car_Kit_for_RaspberryPi
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.
Reprint 4.0
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Contents
Introduction ..............................................................................................................................................1
Components.............................................................................................................................................2
A. Acrylic Plates..............................................................................................................................2
B. Mechanical Fasteners..............................................................................................................3
C. Drive Parts ...................................................................................................................................4
D. Electrical Components ............................................................................................................5
E. Self-provided Parts....................................................................................................................8
Electrical Components Basics...............................................................................................................9
A. Raspberry Pi................................................................................................................................9
B. Step-down DC-DC Converter Module...............................................................................10
C. Servo ..........................................................................................................................................10
D. DC Motor Driver.......................................................................................................................11
E. USB Wi-Fi Adaptor....................................................................................................................11
F. Servo Controller .......................................................................................................................12
G. 18650*2 Battery Holder...........................................................................................................12
Assembly..................................................................................................................................................13
A. Back Half Chassis + Rear Wheels .........................................................................................13
B. Back Half Chassis + Copper Standoffs ...............................................................................15
C. Upper Plate + Copper Standoffs .........................................................................................15
D. Battery Holder ..........................................................................................................................17
E. Back Chassis + Upper Plate...................................................................................................18
F. Electrical Module Assembly..................................................................................................19
Circuit Connecting................................................................................................................................20
Servo Calibration（Operation on Raspberry Pi）...........................................................................29
A. Burn the image........................................................................................................................29
B. Car Power Supply....................................................................................................................30
C. Log into Raspberry Pi..............................................................................................................30
For Linux or Mac OS X Users...................................................................................................30
For Windows Users ...................................................................................................................32
D. Get Source Code....................................................................................................................33
E. Install python-dev, python-smbus........................................................................................33
F. Setup I2C Port ..........................................................................................................................33
G. Start calibration .......................................................................................................................33
Continue to Assemble ..........................................................................................................................35
A. Front Wheels.............................................................................................................................35
B. Steering Linkage + Servo Rocker Arm.................................................................................37
C. Steering Servo + Upper Plate................................................................................................38
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D. Steering Servo + Steering Linkage .......................................................................................39
E. Front Chassis + Upper Plate...................................................................................................40
F. Plates + Servo Rocker Arms...................................................................................................41
G. Pan/Tilt Servo + Plate..............................................................................................................42
H. Pan Servo Plate + Tilt Servo Plate.........................................................................................43
I. Servos + Rocker Arm Plates...................................................................................................44
J. Mount + Car.............................................................................................................................45
Car Calibration (Operation on PC) ...................................................................................................47
A. Get the source code .............................................................................................................47
B. Install Python software ...........................................................................................................47
C. Run cali_client..........................................................................................................................48
D. Start Calibration ......................................................................................................................50
Motor Adjustment ...................................................................................................................50
Turning Adjustment .................................................................................................................51
Mount Adjustment ..................................................................................................................51
MJPG-streamer (Operation on Raspberry Pi) ..................................................................................52
A. MJPG-streamer Installation ...................................................................................................52
B. Testing........................................................................................................................................53
Get on the Road! ..................................................................................................................................55
A. Run TCP server (Operation on Raspberry Pi).....................................................................55
B. Run the Client (operation on PC)........................................................................................55
Program Analysis and Explanation ....................................................................................................58
Abstract............................................................................................................................................58
Introduction of Socket ...........................................................................................................58
1. Server..................................................................................................................................59
Process Diagram of Server Program ...................................................................................60
2. Client ..................................................................................................................................60
Introduction of Tkinter ............................................................................................................60
Process Diagram of Client Program....................................................................................62
Summary..................................................................................................................................................63
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1
Introduction
The SunFounder Smart Video Car Kit for Raspberry Pi is composed of Raspberry Pi, step-down
DC-DC converter module, USB camera, DC motor driver, and PCA9685-based servo
controller. From the perspective of software, the smart car is of client/server (C/S) structure.
The TCP server program is run on Raspberry Pi for direct control of the car. And the video
data are acquired and delivered via the open source software MJPG-streamer in a real-time
manner. The TCP client program is run on PC to send the control command. Both the client
and server programs are developed in Python.
The smart car is developed based on the open source hardware Raspberry Pi and integrates
the knowledge of mechanics, electronics and computer, thus having profound educational
significance.
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2
Components
A. Acrylic Plates
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3
B. Mechanical Fasteners
Parts
Name
Qty.
M1.2*4 self-tapping screw
8
M2*8 screw
6
M2.5*6 screw
16
M3*10 countersunk screw
2
M3*8 screw
8
M3*10 screw
6
M3*30 screw
4
M4*25 screw
2
M2.5*8 copper pillar
16
M3*24 copper pillar
8
M2 nut
6
M2.5 nut
16
M3 nut
20
M4 self-locking nut
2
F694ZZ flange bearing
2
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4
C. Drive Parts
Parts
Name
Qty.
Tower Pro
Micro Servo
SG90
3
Gear reducer
2
Driven wheel
2
Active wheel
2
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5
D. Electrical Components
Parts
Name
Qty.
Raspberry Pi
Model B+
1
16-Channel 12-bit
PWM driver
(servo controller)
1
L298N DC motor
driver
1
Step-down DC-
DC
converter
module
1
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6
USB Wi-Fi
adapter
1
USB camera
1
18650*2
Battery holder
1
Ribbon
1
USB cable
1
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7
Cross socket
wrench
1
Cross
screwdriver
1
Cable Spiral
Wrap
1
20cm jumper wire
(F to F)
4
10cm jumper wire
(F to F)
5
10cm jumper wire
(M to F)
2
20cm jumper wire
(M to M)
2
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