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.

Tabelle 4: Python Library Setup

#	Name	Description	Pictures
1	Python Library
2	Created Control library
3	Library

Matlab

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

Results

zeigmess jtest etc