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Jetson-Control

Important: Before you run anything, make sure your car is alleviated from the surface, i.e., make sure the wheels of the car does not touch anything.

Note: You need to first clone this repository and checkout to branch fix-jetson-control in your Jetson Nano (Since you are reading this markdown file, I will assume you already did so).

Demo: Here is the link to the video: Jetson Control demo.

Arduino

To run the Jetson-Control from the terminal, you need to update Arduino code first. Below are the specific instructions:

  1. Connect LiPo battery and make sure the voltage is 5.1 volts

  2. Open up ROAR_NODE_V4.ino inside ArduinoIDE

  3. Select Arduino Due(Programming Port) in Tools -> Board: "..." (if you are not able to see Arduino Due in the Board, follow pert's instructions under this topic: Installing Arduino SAM boards on Arduino IDE for Arm64; if you do not want to mess up with Jetson, you can choose to upload Arduino code from other computer)

  4. Select /dev/ttyACM0(Arduino Due(Programming Port)) in Tools -> Port -> "..." (the specific port name may varies, but make sure you select the Programming Port)

  5. Click Upload button (the righthand arrow) to upload the code to the board

  6. Check the front wheels of the car are in neutral position (if not, then you are in TESTING_STATE, change the first line of ROAR_NODE_V4.ino to bool TESTING_STATE = false and re-upload the code)

Python

Now you are ready to run the Jetson-Control from the terminal. Below are the specific instructions:

  1. Open up TRAXXAS XL5 ESC (the blue box on the side of the car)

  2. Turn on your radio controller and try throttle/steering (make sure they are function correctly, if not, follow the instructions here: How to Calibrate Traxxas Electronic Speed Controls)

  3. Important: Turn off your radio controller

  4. In your terminal, make sure you are inside the repository, i.e., cd ROAR_Jetson

  5. Run python3 roar-vr.py -c

  6. After you see Starting vehicle..., type in two numbers between [-1, 1] (with space in between), and hit enter on your keyboard, then you should see the termianl reports your comand and the wheels of your car start changing (Note: the current program will ignore the identical commands to the previous ones)

Known Issues

  • when the input throttle is small, the car is not responding
  • when the new steering angle is close to the previous one, the car is not responding