Gophercar is a DIY platform for self-driving miniature cars like Donkeycar (http://www.donkeycar.com/), but is written in the Go programming language. The idea is to make Gophercar able to run on any of the supported Donkeycar cars/hardware without any modification.

• Exceed Short Course Truck (https://www.amazon.com/Exceed-Racing-Desert-Course-2-4ghz/dp/9269802094)
• Donkeycar chassis kit(https://squareup.com/store/donkeycar/item/desert-monster-short-course-truck-or-blaze-partial-kit)
• Raspberry Pi 3 Model B+
• Raspberry Pi wide-angle camera (included in Donkeycar kit)
• PCA9685 I2C servo driver (included in Donkeycar kit)
• SSD1306 I2C OLED display (optional)
• MPU6050 I2C Accelerometer/Gyroscope (optional)

The following needs to be installed on a bootable SD card for the Raspi:

• Raspbian Stretch OS
• Go v1.10+
• OpenCV 3.4.2
• SDL2 v2.0.8+
• Movidius NCS SDK (optional)

The following OS features must be enabled:

• I2C
• Camera

You will also need to update the kernel on the Raspbian Pi to v4.14+

sudo rpi-update

• Edit your car in a sub-directory of the cars directory.
• To transfer your code to the car, compile it on the car, and then run it: ./runner.sh hello 192.168.1.42

This copies the code to the Raspberry Pi, compiles it on the Pi, and then executes it.

• Install the Gophercar Docker container to cross-compiling for Raspian easier, due to using binary libaries such as OpenCV/GoCV
• Compile the code to run on your car
• Copy the compiled executable to your car's controller using scp
• Execute the car code on the car controller
• Drive!

The cars directory will contain various car controller programs. Choose one to compile and put on your car controller.