www.open-ats.eu

Open-source 3D printed ground vehicle controlled over mobile internet for observation / transportation / development

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demo video     documentation     discord     3D-model vehicle     3D-model electronics     3D-model print

features:

programs

• programs for access the vehicle over mobile internet
  • program for controlling motors
  • program for videostreaming
• open-source software, all programs written in python (focus on easy to understand)
• programs using udp for low latency
• opencv for taking video and displaying them, good for future AI
• all programs can as well be used for standard rc-cars, airplanes or boats
  with PWM input and even for stationary surveillance cameras.

3d printing

• open-source hardware, hole vehicle 3D-printable
  • 3D-printed ball bearing (printable in one piece without any support)
  • 3D-printed flexible tires (airless, filaflex 82A)
• insertable metal springs on all axes
• assembly with only M3-screws and threaded brass inserts
• support structures rarely required, low part count, easy assemply

electronics

• two individual servomotors to steer the front wheels
• two individual brushless motors directly integrated into the rear wheels (inwheel, hubmotor)
• raspberry pi
• blheli32 ESC's (will soon change to B-G431B-ESC1)
• 18650 li-ion cells with bms (25.2V)
• low cost

disadvantages

• low torque cause of direct drive hub motor (will increase with planetary gear)
• low torque cause of sensorless ESC (will increase with current sensing ESC)
• video stream consumes too much data

get started just write the following (for detailed info see guide):

python3 main.py

python example code:

take and show webcam/rpi-camera image

import cv2
cap = cv2.VideoCapture(0)
img = cap.read()[1] #capturing image
cv2.imshow('stream',img) #1st argument = windows name
cv2.waitKey(1)

control motor with rpi (pin 15, pwm=1500ms)

#start GPIO deamon first: sudo pigpiod (preinstalled on RPI)
import pigpio #importing gpio library 
output = pigpio.pi().set_servo_pulsewidth #just shorting that long name
output(15,1500)#gpio 15, pwm=1500ms

send data to the server

import socket
address_server	=('your ip here',3274)
soc = socket.socket(family = socket.AF_INET, type = socket.SOCK_DGRAM) #internet protocol parameters
soc.sendto(b'your message',address_server)

feel free to contact for any problem: [email protected], also consider donating or get a video call with devs