A remote-controlled car controlled by a smartphone. With just a few taps on your smartphone, you can maneuver the car with precision.

Story

We can adjust the speed and power of the car by changing the arrangement of gears at the rear of the vehicle.

We control it using a smartphone or a computer; sample software in C++, Python and Delphi will be available in our GitHub repository.
Remote Controller on GitHub: https://github.com/SaraEye/SaraKIT-RCCar-Remote-Controller

 
SaraKIT Remote Controller (Android, PC, iOS, Mac)
 
We utilize two precise BLDC Gimbal motors. One is used for steering control, and the other serves as a four-wheel drive.
 
 
SaraKIT, which it is built on, is an open-source solution.
 

The car is powered by a power bank. For mobile devices, we recommend a simple connection to the PowerBank (PD2.0 PD3.0 Fast Charging and QC4 with USB-C output) with a special PD 12v cable. Or by connecting a USB cable via USB-C Pd Trigger Module Pd 12v.

Two gimbals model GM3506 were used, 4-wheel drive independently, through two differentials, but you can do it simpler of course.

Sample code for motor control:

Full main RCCar code:

#include <iostream>
#include <signal.h>
#include <stdio.h>
#include <math.h>
#include <arm_neon.h>
#include "unistd.h"
#include <fstream>

#include "struct.hpp"
#include "lib/viewer/viewer.hpp"
#include "lib/SaraKIT/devices.hpp"
#include "lib/RC/remoteControl.hpp"

using namespace std;
 
cv::Mat frame0, frame0Gray, frame0GrayHalf, frame0GrayHalfEdge; // cam0
cv::Mat frame1, frame1Gray, frame1GrayHalf, frame1GrayHalfEdge; // cam1
cv::Mat imgProcessed;

ViewerStatus viewStatus;
RemoteControll rc;

//ctrl-c 
void ctrlc_handler(sig_atomic_t s){
    printf("\nCaught signal %d\n",s);
    BLDCMotor_MoveStop(0);
    BLDCMotor_MoveStop(1);
    control_c=true;	
}

int main(int argc, char** argv){
    signal(SIGINT,ctrlc_handler);

    bool isColorRGB;
    cv::Scalar ColorRGB(0,0,0);

	camwidth=640;
	camheight=480;

    imgProcessed=cv::Mat(camheight, camwidth, CV_8UC3);

    init_camera(0, camwidth, camheight, false, false, true, true, true);
    //init_camera(1, camwidth, camheight, false, camOpenCV, true, true, true);
    sleepms(200);

    //init_viewer(ViewMode::Camera0, ViewMode::Camera1, 1, false, true);
    init_viewer(ViewMode::Camera0,ViewMode::Processed);

    //set gimbals pole
    BLDCMotor_PolePairs(0,11);
    BLDCMotor_PolePairs(1,11);

    //run once, get info
    //BLDCMotor_InitFOC(0,0,0,0);
    //BLDCMotor_InitFOC(1,1,0,0);
    //return 1;
    BLDCMotor_InitFOC(0, 0, -1, 1.45);
    //BLDCMotor_InitFOC(1,1,1,5.60);

    BLDCMotor_On(0,true);//speed
    BLDCMotor_On(1,true);//steering

    //to vibrations, depends on the weight of the engine and what the engine is carrying
    //BLDCMotor_PIDVelocity(0, 50, 20, 0, 0);
    //BLDCMotor_PIDVelocity(0, 0.5, 20, 0, 0);    
    //BLDCMotor_PIDAngle(0, 20, 10, 0, 0);


    int iz=0;
    while (_SPICheck()==false && iz<10) {
        iz++;
        sleepms(100);
    }

    int px=-1000;
    int py=-1000;
    int lastpx=px;
    int lastpy=py;
    int btn;
    //float startX=-Encoder_Get(0).angleDeg;
    float startX=0;
    printf("Start Loop\n");
    do {
        // Get frame to frame,frameGray,frameGrayHalf
        GetFrame(); //GetFrame()==1 (new frame from cam0, ==2 from cam1, ==3 from cam0 & cam 1)

        //button from the remote control
        btn=rc.getButton();
        if (btn==1) {            
            printf("ButtonA pressed\n");
        }
        if (btn==2) {            
            printf("ButtonB pressed\n");
        }
        if (btn==3) {
            printf("ButtonC pressed\n");
        }

        //RGB Color from the remote control
        rc.getColorRGB(&isColorRGB,&ColorRGB);
        if (isColorRGB) {
            printf("R:%.0f G:%.0f B:%.0f \n",ColorRGB[0],ColorRGB[1],ColorRGB[2]);
        }

        //speed/steering wheel from the remote control
        rc.getPos(&px,&py);
        if (px!=-1000 && lastpx!=px) {
            lastpx=px;
            BLDCMotor_MoveToAngle(1,px+startX,1,70,true);
            printf("%.2f PX\n",px+startX);
        }
        if (py!=-1000 && lastpy!=py) {
            lastpy=py;
            if (py>0)
                BLDCMotor_MoveContinuousTorque(0,1,(float)py);
            else
                BLDCMotor_MoveContinuousTorque(0,-1,-(float)py);
            printf("%.2f PY\n",(float)py);
        }
            
        viewStatus = viewer_refresh();

    } while (viewStatus != ViewerStatus::Exit && control_c != true);
    rc.stop();
    closing_function(0);
    return 1;
}

 

You can find C++ and Python code for Raspberry Pi4 in the
SaraKIT Github repository:
https://github.com/SaraEye
https://github.com/SaraEye/SaraKIT-RCCar-Raspberry-Pi
https://github.com/SaraEye/SaraKIT-RCCar-Remote-Controller