P18.20 – Pi Controlled Autonomous Car

Actual Picture – In Action (version 0.3) – Date 29.5.2021

For ver1.0 idea is to create fully autonomous car that can roam into house on its own and avoid obstacles. Should be able to work in day and night and able to identify objects it sees around while navigating

Currently its 0.3

Key components

👀 – Ultrasonic sensor, Camera, Headlight

🧠 – Raspberry Pi 4B + Software 👨‍💻

🦵 – BO Motors + Arduino L293D Motor Driver + 2 x 3.7V18650mAh Rechargeable Battery

✋ – No Arms in v1.0 😦

👂 – Camera Mic

🥗 – 2 x 3.7V 18650mAh Rechargeable Battery -> Step Down Converter to USB

🔦 – 6×2 5mm DIP LED – Custom Circuit

Pinout to Raspberry Pi

Hardware Connection

Battery Power Supply to Raspberry Pi

Current Pi Connection (Editable)

	GPIO #	Raspberry Pin #	Raspberry Pin #	GPIO #
	3.3 V	1	2	5 V
OLED Pin 4	GPIO 2/SCA	3	4	5 V
OLED Pin 3	GPIO 3/SCL	5	6	GND
PIR Pin 2	GPIO 4	7	8	GPIO 14/TXD	Head Light
	GND	9	10	GPIO 15/RXD	Break Light
Left Light	GPIO 17	11	12	GPIO 18/PCM_CLK	Right Light
	GPIO 27	13	14	GND
Buzzer	GPIO 22	15	16	GPIO 23	Ultrasonic Pin 2
	3.3 V	17	18	GPIO 24	Ultrasonic Pin 3
Dot Matrix Pin3	GPIO 10/MOSI	19	20	GND
	GPIO 9/MISO	21	22	GPIO 25	Servo Pin 3
Dot Matrix Pin5	GPIO 11/SCLK	23	24	GPIO 8/CE0	Dot Matrix Pin4
	GND	25	26	GPIO 7/CE1
	GPIO 0/ID_SD	27	28	GPIO 1/ID_SC
Motor 2A	GPIO 5	29	30	GND
Motor 1A	GPIO 6	31	32	GPIO 12/PWM0
Motor 1B	GPIO 13/PWM1	33	34	GND
Motor 2B	GPIO 19	35	36	GPIO 16	Motor 3B
Motor 4A	GPIO 26	37	38	GPIO 20/PCM_DIN	Motor 3A
	GND	39	40	GPIO 21/PCM_DOUT	Motor 4B