[posted] Autonomously navigating rover

jwatte

Well-known member
This rover is built for outdoors environments, with individual motor drive, encoder reading, and independent suspension for each of six wheels, and individual steering on each of the four corner wheels.
I also took it racing at the Oakland self-driving RC car meet-up this month, and ended up placing 2 out of 20!
The vision on the bot is done through a Raspberry Pi and camera, whereas all of the real-time control (anything from power management to talking to motor controllers and serial bus servos) is done through a Teensy 3.2.

The code can be found here: https://github.com/jwatte/moneypit_v_for_victory

Some pictures:

2017-08-12-money-pit-v-for-victory-small.jpg

debug-rgb.png

debug-analyzed.png

Some videos:

A training pass (I ended up turning up the speed a little more to max for competition):
[video]https://goo.gl/photos/RhqGvbB65R5Q72LG6[/video]

Climbing stairs:
[video]https://goo.gl/photos/4tsqXu9PF2rLyNud9[/video]
 
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