Project created for the Skool AI to participe in the IronCar autonomous car competition

In Terminal, type the following command:

$ diskutil list

You should see something like: In this case /dev/disk2 is my SD card.

To reformat the SD card, type:

$ diskutil unmount /dev/disk2
$ diskutil unmountDisk /dev/disk2
$ diskutil eraseDisk FAT32 SDCARD MBRFormat /dev/disk2

The SD card will be formatted in FAT32 format under the name SDCARD with a Master Boot Record (MBRFormat).

To check if the formatting was successful, use above command again:

$ diskutil list

Look for a disk named SDCARD like in the following picture:

$ sudo dd if=/Users/baptiste.ojeanson/Downloads/RPI-IMAGE-TO-FLASH.img of=/dev/disk2 bs=1024

RPI-IMAGE-TO-FLASH.img:

• 2019-09-26-raspbian-buster-lite.img
• hypriotos-rpi-v1.11.1.img

To check if the flashing was successful, use above command again:

$ diskutil list

Look for a disk named HypriotOS like in the following picture:

Once formatted, to enable ssh, create a file named ssh in the root dir of the SD card:

$ touch /Volumes/boot/ssh

To connect to a WIFI network after booting, create a file named wpa_supplicant.conf in the root dir of the SD card:

$ touch /Volumes/boot/wpa_supplicant.conf

And set the network parameters inside:

ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
network={
    ssid="<YOUR-NETWORK-SSID>"
    psk="<YOUR-NETWORK-PASSWORD>"
    key_mgmt=WPA-PSK
}

Once the Raspberry is up, try to connect to it with the following command:

$ ssh [email protected]

pirate is the user on the Raspberry to use and black-pearl.local the hostname.

Generate an ssh key pair: a public and a private key.

$ ssh-keygen -o -t rsa -b 4096 -C "[email protected]"

Once generated, put the keys in the $HOME/.ssh/ directory under the names hypriot_id_rsa and hypriot_id_rsa.pub.

Then, use the following command to put the public key inside the authorized_keys file on the Raspberry. This will allow to use the private key to log onto the Raspberry without login and password each time.

$ ssh-copy-id -i $HOME/.ssh/hypriot_id_rsa USER@HOSTNAME -f

Tutorial followed: http://docs.robocarstore.com/ (documentation provided by the store we bought the car from)

Tutorial followed: https://docs.donkeycar.com/guide/install_software/ (official DonkeyCar documentation)

The car still need a better calibration. Based on the connection on the servo controller:

• Steering channel: 1
• Throttle channel: 0 (Those can be changed in the config.py file.)

The wifi config file is in: /etc/wpa_supplicant/wpa_supplicant.conf. If you can't connect to an already configured network to modify this file, you can use an Ethernet cable: https://www.dexterindustries.com/howto/connecting-raspberry-pi-without-monitor-beginners/

1. Verify that you're sharing the same network: ping donkeypi.local
2. Connect via ssh: ssh [email protected] Password: skoolcar

1. Run the following command: sudo shutdown -h now
2. Wait for the green light to turn off completey before you remove the power. Else you could damage the SSD reader.

• Use the IronCar simulator to run a first supervised approach based on a virtual dataset: https://pypi.org/project/simulateur-ironcar/

apt-get install xboxdrv joystick