Package: seame-piracer
PiRacer-PyThis package will provide you with a simple abstraction layer for the PiRacer development platform.
You will be able to control the powertrain and the steering as easy as possible.I also provides an easy way to grab images from the camera (based on v4l2 and opencv)PiRacer Standard and Pro architecture overview:InstallTested on the following Hardware:Raspberry Pi 4 Model B 4GBTested on the following distributions:Raspberry Pi OS Lite "Bullseye" (64-Bit)Camera is not working at the momentUbuntu Server 22.04.1 LTS (64-Bit)Ubuntu Server 20.04.5 LTS (64-Bit)Add additional sources (Ubuntu only)If you runUbuntu, add the following sources first:sudo -s
echo "deb http://archive.raspberrypi.org/debian/ buster main" >> /etc/apt/sources.list
apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7FA3303E
apt update
exitIf you're facing messages like the following when trying to install packages
via apt:pi@ubuntu:/home/pi# sudo apt install PACKAGES...
Waiting for cache lock: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 1807 (unattended-upgr)Disable the unattended upgrade feature by running the following command to disable:sudo dpkg-reconfigure unattended-upgradesInstall dependencies:sudo apt update
sudo apt install \
    gcc \
    v4l-utils \
    i2c-tools \
    raspi-config \
    python3-dev \
    python3-setuptools \
    python3-venv \
    libopencv-devSetup peripheryMount boot partition (Ubuntu only)On Ubuntu it is necessary to explicitly mount the boot partition before
enabling the i2c controller and camera:mount /dev/mmcblk0p1 /boot/Enable i2c and cameraUse theraspi-configtool to enable the following peripherals:i2c: Interface Options > I2CCamera: Interface Options > CameraAfterwards, reboot:sudo rebootInstall piracer-py packagecd ~
mkdir piracer_test/
cd piracer_test/
python3 -m venv venv
source venv/bin/ativate

pip install piracer-pyExamplesThe following examples will show the basic functionality of the piracer-py package.
Make sure the virtual environment from stepInstall piracer-py packageis activated.Basic exampleThis basic example will test the power train and the steering.Paste the following code intobasic_example.pyimport time
from piracer.vehicles import PiRacerPro

if __name__ == '__main__':

    piracer = PiRacerPro()
    # piracer = PiRacerStandard()

    # Forward
    piracer.set_throttle_percent(0.2)
    time.sleep(2.0)

    # Brake
    piracer.set_throttle_percent(-1.0)
    time.sleep(0.5)
    piracer.set_throttle_percent(0.0)
    time.sleep(0.1)

    # Backward
    piracer.set_throttle_percent(-0.3)
    time.sleep(2.0)

    # Stop
    piracer.set_throttle_percent(0.0)

    # Steering left
    piracer.set_steering_percent(1.0)
    time.sleep(1.0)

    # Steering right
    piracer.set_steering_percent(-1.0)
    time.sleep(1.0)

    # Steering neutral
    piracer.set_steering_percent(0.0)Run it with:python basic_example.pyRemote control exampleThe following example will let you control the PiRacer with the ShanWan Gamepad
that is shipped with the PiRacer package. Make sure the dongle is connected to your Raspberry Pi.Paste the following code intorc_example.py:from piracer.vehicles import PiRacerPro
from piracer.gamepads import ShanWanGamepad

if __name__ == '__main__':

    shanwan_gamepad = ShanWanGamepad()
    piracer = PiRacerPro()
    # piracer = PiRacerStandard()

    while True:
        gamepad_input = shanwan_gamepad.read_data()

        throttle = gamepad_input.analog_stick_right.y * 0.5
        steering = -gamepad_input.analog_stick_left.x

        print(f'throttle={throttle}, steering={steering}')

        piracer.set_throttle_percent(throttle)
        piracer.set_steering_percent(steering)Run it with:python rc_example.pyGrab images exampleWith the following example you can grab and save images from the Raspberry Pi camera.Paste the following code intocamera_grab_example.py:import cv2
from piracer.cameras import Camera, MonochromeCamera

if __name__ == '__main__':
    camera = MonochromeCamera()

    image = camera.read_image()
    cv2.imwrite('image.png', image)Run it with:python camera_grab_example.py