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C++ Implementation of JetRacer

A C++ implementation of Waveshare's JetRacer platform. It uses my own implementation I2C communication which is done in a separate repository (CMake will pull it). There are two test applications. One tests basic motors movement and the other utilises gamepad.

The code has been tested on Jetson Nano with JetPack 4.5.1.

Setup

Default build without internal logging

$ mkdir build
$ cd build
$ cmake ..
$ make     
$ ./test_JetRacer

Using Gamepad

To drive using provided PS3 gamepad, simply plug its receiver into one of Jetson's USB port (this is different compared to vanilla Python imlpementations where commands were sent from host) and run

$ ./test_JetRacer_Gamepad

Note that you may need to use gamepad's HOME button to switch between modes. By default, button with ID 0 is used to stop the application and axis with ID 0 is used to control JetRacer (forward, backward, and seteering).