Self driving car powered by the BeagleBone Black and a cheap RC car. Herein lay the brains, test-code, and other random development detritus involved in the making of my senior project.

Read about this project on my website

Besides the short tests in src/test/ everything is built on top of ROS. src/test has scripts that were the building blocks of the later nodes and ROS code (test or not); I learned most of the core functionality of getting values from sensors or controlling motors (aka using the Adafruit BBIO library) in the scripts there.

src/gyro-tests is a self contained test that used the gyroscope to control a servo's position and/or a motor's speed.

src/joystick-tests tests using a joystick (wired USB Xbox 360 controller) to control motors and a servo (aka the car). It utilizes the joy ROS node.

src/gps-tests just averages the values parsed and published by the nmea-navsat-driver node and writes them to a KML value.

This project utilizes Adafruit's BBIO Library and ROS nodes joy and nmea-navsat-driver.