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