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 | Main python libraries | These libraries are the root libraries of the JetRacer and must be available because other libraries will depend on them. | 
|
| 2 | Library for Control and steering | Since we can not use MATLAB directly on the Jetracer, we can, however, call a python code to run in the background on Matlab |  |
| 3 | Python script | This script details how the inputs from the Gamepad is recorded and transmitted to Matlab thought steering_values.txt |
 |
Matlab
After the above requirements are satisfied, we then proceed to call the library in the background as shown below:
Results
zeigmess jtest etc