Improve the Controller (e.g., PD Controller)

Improve the Controller

As mentioned in the previous chapter, instead of recreating the Python library with MATLAB script, we create a Python library that will run all necessary libraries needed to operate the JetRacer, then run it with MATLAB in the background.

Jetracer

• Requirements:

1. Jupyter libraries containing jetracer.nvidia_racecar must be working
2. Install pygame library on jetson nano with sudo pip install pygame
3. Create a python file that will import pygame, import NvidiaRacecar, read and write steering values.

Matlab

After the above requirements are satisfied, we then proceed to call the library in the background as shown below:

Results

zeigmess jtest etc