Autobot

A simple autonomous car bot powered by a Raspberry Pi. An ultrasonic sound sensor is used to detect and avoid any obstacles directly in front of the bot. Code has been abstracted to be available for use in other applications.

Motor control

The motor.py file can be used as a an object like so:

import motor
move = motor.Motor(left_pin1, left_pin2, right_pin1, right_pin2)
move.setup_GPIO() # Set up GPIO board/pins
move.forward()

Each direction function, (forward(), reverse(), left(), right(), neutral()), runs in infinite loops.

Sound sensor

The 'soundsensor.py' program runs and measures a distance only once by default before the program ends. A real-time measurement display is also available.

import soundsensor as sound
s = sound.Sensor(trigger_distance, trigger_pin, echo_pin, led_pin1, led_pin2)
s.setup_GPIO()          # Set up GPIO board/pins
s.HUD = True            # Enables real-time measure print to console (optional, default: True)
s.enable_loop = True    # Enables infinite loop (optional, default: False)
s.start()               # Start measurement

Collision detection

This relies on both soundsensor.py and motor.py to function. Super simple AI. It moves forward until an obstacle is detected, then turns left until an obstacle is no longer detected before continuing forward.

Bluetooth gamepad

The Autobot can be directly controlled with the bt_contoller.py script. Requires root.

API

The api.py file contains a simple Flask app to control the Autobot. The stream.sh file provides a live stream to the Flask app from the onboard camera.