Welcome

Thank you for choosing Freenove products!

About Battery

First, read the document About_Battery.pdf in the unzipped folder.

If you have not downloaded the zip file, please download it and unzip it via link below.
[Link]

Get Support and Offer Input

Freenove provides free and responsive product and technical support, including but not limited to:
⚫ Product quality issues
⚫ Product use and build issues
⚫ Questions regarding the technology employed in our products for learning and education
⚫ Your input and opinions are always welcome
⚫ We also encourage your ideas and suggestions for new products and product improvements
For any of the above, you may send us an email to:

support@[Link]
Safety and Precautions

Please follow the following safety precautions when using or storing this product:
⚫ Keep this product out of the reach of children under 6 years old.
⚫ This product should be used only when there is adult supervision present as young children lack necessary
judgment regarding safety and the consequences of product misuse.
⚫ This product contains small parts and parts, which are sharp. This product contains electrically conductive
parts. Use caution with electrically conductive parts near or around power supplies, batteries and
powered (live) circuits.
⚫ When the product is turned ON, activated or tested, some parts will move or rotate. To avoid injuries to
hands and fingers, keep them away from any moving parts!
⚫ It is possible that an improperly connected or shorted circuit may cause overheating. Should this happen,
immediately disconnect the power supply or remove the batteries and do not touch anything until it
cools down! When everything is safe and cool, review the product tutorial to identify the cause.
⚫ Only operate the product in accordance with the instructions and guidelines of this tutorial, otherwise
parts may be damaged or you could be injured.
⚫ Store the product in a cool dry place and avoid exposing the product to direct sunlight.
⚫ After use, always turn the power OFF and remove or unplug the batteries before storing.
About Freenove

Freenove provides open source electronic products and services worldwide.

Freenove is committed to assist customers in their education of robotics, programming and electronic circuits
so that they may transform their creative ideas into prototypes and new and innovative products. To this end,
our services include but are not limited to:

⚫ Educational and Entertaining Project Kits for Robots, Smart Cars and Drones
⚫ Educational Kits to Learn Robotic Software Systems for Arduino, Raspberry Pi and micro: bit
⚫ Electronic Component Assortments, Electronic Modules and Specialized Tools
⚫ Product Development and Customization Services

You can find more about Freenove and get our latest news and updates through our website:

[Link]

Copyright

All the files, materials and instructional guides provided are released under Creative Commons Attribution-
NonCommercial-ShareAlike 3.0 Unported License. A copy of this license can be found in the folder containing
the Tutorial and software files associated with this product.

This means you can use these resource in your own derived works, in part or completely, but NOT for the
intent or purpose of commercial use.

Freenove brand and logo are copyright of Freenove Creative Technology Co., Ltd. and cannot be used without
written permission.

○
R

Free your innovation

Raspberry Pi® is a trademark of Raspberry Pi Foundation ([Link]

Need support?  [Link]

Contents

Welcome....................................................................................................................................................................................... 1
Contents ....................................................................................................................................................................................... 1
List .................................................................................................................................................................................................. 1
Machinery Parts ................................................................................................................................................................. 1
Transmission Parts............................................................................................................................................................. 2
Acrylic Parts......................................................................................................................................................................... 3
Electronic Parts ................................................................................................................................................................... 3
Tools ..................................................................................................................................................................................... 4
Self-prepared Parts ........................................................................................................................................................... 5
Tank Smart Car Board for Raspberry Pi ....................................................................................................................... 6
Preface .......................................................................................................................................................................................... 6
Raspberry Pi Introduction ................................................................................................................................................ 7
Chapter 0 Raspberry Pi Preparation ................................................................................................................................... 16
Install a System................................................................................................................................................................ 16
Getting Started with Raspberry Pi .............................................................................................................................. 26
Chapter 1 Software installation and Test (necessary)..................................................................................................... 37
Step 1 Obtain the Code ................................................................................................................................................ 37
Step2 Install the Needed Libraries ............................................................................................................................. 38
Chapter 2 Assemble Smart Car ............................................................................................................................................ 41
Chapter 3 Module test (necessary) ..................................................................................................................................... 65
Chapter 4 Ultrasonic Obstacle Avoidance Car ................................................................................................................. 80
Description ....................................................................................................................................................................... 80
Chapter 5 Infrared tracking automatic wrecker ............................................................................................................... 82
Description ....................................................................................................................................................................... 82
Chapter 6 Smart video car .................................................................................................................................................... 85
Server................................................................................................................................................................................. 86
Client.................................................................................................................................................................................. 88
Android and iOS app................................................................................................................................................... 108
Free innovation ............................................................................................................................................................. 110
What's next? ........................................................................................................................................................................... 117
 █ [Link] List 1

List
If you have any concerns, please feel free to contact us via support@[Link]

Machinery Parts

Need support?  [Link]

2 List [Link] █

Transmission Parts

Track drive wheels x2 Track follower wheels x2

Servo package x2 Track x2

DC speed reduction motor x2 Motor bracket bag x2

Do NOT remove the cable tie on the motor!

Need support?  [Link]

 █ [Link] List 3

Acrylic Parts

Electronic Parts

Line tracking module x1 Camera x1（OV5670 or imx219） HC-SR04 Ultrasonic

Module x1

Or

Jumper Wire F/F(4) x1

Need support?  [Link]

4 List [Link] █

XH-2.54-5Pin cable x1

FPC cable x1

Tools

Cross screwdriver (3mm) Black tape x1 Cable Tidy x20cm Red ball x1
x1

Cross screwdriver (2mm) Aluminum alloy internal hexagonal

x1 coupling x2 wrench x1

Need support?  [Link]

█ [Link] List 5

Self-prepared Parts

2X 3.7V 18650 lithium rechargeable batteries with continuous discharge current >3A.
It is easier to find proper battery on eBay than Amazon. Search “18650 high drain” on eBay.

Raspberry Pi (Recommended model: Raspberry 5 / 4B / 3B+) x1

Need support?  [Link]

6 Preface [Link] █

Tank Smart Car Board for Raspberry Pi

Note: The images of the car board may look different from the one you receive (V1.0 or V2.0). By the way,
the interface design of the two version is the same, so the operation on them are the same. You can just
follow this book to use it.

Tank Smart Car Board V1.0 Tank Smart Car Board V2.0

Preface
Welcome to use Freenove Tank Kit for Raspberry Pi. Following this tutorial, you can make a very cool smart
car with many functions.
This kit is based on Raspberry Pi, a popular control panel, so you can share and exchange your experience
and design ideas with many enthusiasts all over the world. The parts in this kit include all electronic
components, modules, and mechanical components required for making the smart car. And all of them are
packaged individually. There are detailed assembly and commissioning instructions in this book.
And if you encounter any problems, please feel free to contact us for fast and free technical support.

support@[Link]

The contents in this book can help enthusiasts with little technical knowledge to make a smart car. If you are
very interested in Raspberry Pi, and want to learn how to program and build the circuit, please visit our
website [Link] or contact us to buy the kits designed for beginners:
Freenove Basic\LCD1602\Super\Ultrasonic\RFID\Ultimate Starter Kit for Raspberry Pi

Need support?  [Link]

 █ [Link] Preface 7

Raspberry Pi Introduction

Raspberry Pi (called RPi, RPI, RasPi, these words will be used alternately later), a micro-computer with size of
a card, quickly swept the world since its debut. It is widely used in desktop workstation, media center, smart
home, robots, and even the servers, etc. It can do almost anything, which continues to attract fans to explore
it. Raspberry Pi used to be running with Linux system and along with the release of windows 10 IoT. We can
also run it with Windows. Raspberry Pi (with interfaces USB, network, HDMI, camera, audio, display and GPIO),
as a microcomputer, can be running in command line mode and desktop system mode. Additionally, it is easy
to operate just like Arduino, and you can even directly operate the GPIO of CPU.

So far, at this writing, Raspberry Pi has advanced to its fifth generation product offering. Version changes are
accompanied by increases in upgrades in hardware and capabilities.

The A type and B type versions of the first generation products have been discontinued due to various reasons.
What is most important is that other popular and currently available versions are consistent in the order and
number of pins and their assigned designation of function, making compatibility of peripheral devices greatly
enhanced between versions.

Below are the raspberry pi pictures and model pictures supported by this product. They have 40 pins.

Physical image of Raspberry Pi 5： CAD image of Raspberry Pi 5：

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8 Preface [Link] █

Physical image of Raspberry Pi 4 Model B： CAD image of Raspberry Pi 4 Model B：

Physical image of Raspberry Pi 3 Model B+： CAD image of Raspberry Pi 3 Model B+：

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█ [Link] Preface 9

Physical image of Raspberry Pi 3 Model B: CAD image of Raspberry Pi 3 Model B:

Physical image of Raspberry Pi 2 Model B: CAD image of Raspberry Pi 2 Model B:

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10 Preface [Link] █

Physical image of Raspberry Pi 1 Model B+: CAD image of Raspberry Pi 1 Model B+:

Physical image of Raspberry Pi 3 Model A+: CAD image of Raspberry Pi 3 Model A+:

Need support?  [Link]

█ [Link] Preface 11

Physical image of Raspberry Pi 1 Model A+: CAD image of Raspberry Pi 1 Model A+:

Physical image of Raspberry Pi Zero W: CAD image of Raspberry Pi Zero W:

Physical image of Raspberry Pi Zero： CAD image of Raspberry Pi Zero：

Need support?  [Link]

12 Preface [Link] █

Below are the raspberry pi pictures and model pictures supported by this product. They have 40 pins.
Hardware interface diagram of RPi 5 is shown below:

GPIO
Connector

USB
PCl Express Connector x4
interfance

On/Off button
Ethernet
Power Connector
Connector

MINI HDMI Camera Display

Connector x2 Connector Connector

Hardware interface diagram of RPi 4B is shown below:

GPIO
Connector Ethernet
Connector

Display
Connector

USB
Power Connector x4
Connector

Micro HDMI Camera Audio

Connector x2 Connector Connector

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 █ [Link] Preface 13

Hardware interface diagram of RPi 3B+/3B/2B/1B+:

GPIO
Connector
USB
Connector
Display
Connector

Ethernet
Power Connector
Connector

HDMI Camera Audio

Connector Connector Connector

Hardware interface diagram of RPi 3A+/A+:

GPIO
Connector

USB
Display Connector
Connector

Power
Connector

HDMI Camera Audio

Connector Connector Connector

Hardware interface diagram of RPi Zero/Zero W:

GPIO
Connector

Camera
Connector

HDMI USB Power

Connector Connector Connector

Need support?  [Link]

14 Preface [Link] █

GPIO

GPIO: General purpose input/output. We will introduce the specific feature of the pins on the Raspberry Pi
and what you can do with them. You can use them for all sorts of purposes. Most of them can be used as
either inputs or outputs, depending on your program.
When programming the GPIO pins there are 3 different ways to refer to them: GPIO numbering, physical
numbering, WiringPi GPIO Numbering.

PHYSICAL Numbering
Another way to refer to the pins is by simply counting across and down from pin 1 at the top left (nearest to
the SD card). This is 'physical numbering', as shown below:

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 █ [Link] Preface 15

BCM GPIO Numbering

Raspberry Pi CPU use BCM2835/BCM2836/BCM2837of Broadcom. GPIO pin number is set by chip
manufacturer. These are the GPIO pins as that computer recognizes. The numbers are unordered and don't
make any sense to humans. You will need a printed reference or a reference board that fits over the pins.
Each pin is defined as below:

For more details about pin definition of GPIO, please refer to [Link]

Need support?  [Link]

16 Chapter 0 Raspberry Pi Preparation [Link] █

Chapter 0 Raspberry Pi Preparation

Install a System

Firstly, install a system for your RPi.

Component List

Required Components
Raspberry Pi 5 / 4B / 3B+/ 3B /3A+ (Recommended) 5V/3A Power Adapter. Different versions of
Raspberry Pi have different power requirements.

Micro USB Cable x1 Micro SD Card (TF Card) x1, Card Reader x1

This robot also supports the following versions of the Raspberry Pi, but additional accessories need to be
prepared by yourself.
Raspberry Additional accessories
Raspberry Pi Zero W Camera cable(>25cm) for zero w, 15 Pin 1.0mm Pitch to 22 Pin 0.5mm
[Link]
Raspberry Pi Zero 1.3 wireless network adapter,
Camera cable(>25cm) for zero w, 15 Pin 1.0mm Pitch to 22 Pin 0.5mm,
OTG cable (USB Type micro B to USB Type A)
Raspberry Pi 2 Model B wireless network adapter
Raspberry Pi 1 Model A+ wireless network adapter
Raspberry Pi 1 Model B+ wireless network adapter

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 █ [Link] Chapter 0 Raspberry Pi Preparation 17

Power requirements of various versions of Raspberry Pi are shown in following table:

Product Recommended Maximum total USB Typical bare-board
PSU current peripheral current draw active current
capacity consumption
Raspberry Pi 1 Model A 700mA 500mA 200mA
Raspberry Pi 1 Model B 1.2A 500mA 500mA
Raspberry Pi 1 Model A+ 700mA 500mA 180mA
Raspberry Pi 1 Model B+ 1.8A 1.2A 330mA
Raspberry Pi 2 Model B 1.8A 1.2A 350mA

Raspberry Pi 3 Model B 2.5A 1.2A 400mA

Raspberry Pi 3 Model A+ 2.5A Limited by PSU, board, and 350mA
connector ratings only.
Raspberry Pi 3 Model B+ 2.5A 1.2A 500mA
Raspberry Pi 4 Model B 3.0A 1.2A 600mA
Raspberry Pi 5 5.0A 1.6A (600mA if using a 3A 800mA
power supply)
Raspberry Pi 400 3.0A 1.2A 800mA
Raspberry Pi Zero 1.2A Limited by PSU, board, and 100mA
connector ratings only
Raspberry Pi Zero W 1.2A Limited by PSU, board, and 150mA
connector ratings only.
Raspberry Pi Zero 2 W 2A Limited by PSU, board, and 350mA
connector ratings only.
For more details, please refer to [Link]

In addition, RPi also needs an Ethernet network cable used to connect it to a WAN (Wide Area Network).

The Raspberry Pi 5 provides 1.6A of power to downstream USB peripherals when connected to a power supply
capable of 5A at +5V (25W). When connected to any other compatible power supply, the Raspberry Pi 5
restricts downstream USB devices to 600mA of power.

Need support?  [Link]

18 Chapter 0 Raspberry Pi Preparation [Link] █

Optional Components

Under normal circumstances, there are two ways to login to Raspberry Pi:
1) Using independent monitor, or remote desktop to share a monitor with your PC.
2) Using a remote desktop or laptop computer monitor “sharing” the PC monitor with your RPi.

Required Accessories for Monitor

If you want to use independent monitor, mouse and keyboard, you also need the following accessories.
[Link] with HDMI interface
[Link] and Keyboard with USB interface

As to Pi Zero and Pi Zero W, you also need the following accessories.

1. Micro-HDMI to HDMI converter wire.
2. Micro-USB to USB-A Receptacles converter wire (Micro USB OTG wire).
3. USB HUB.
4. USB transferring to Ethernet interface or USB Wi-Fi receiver.

For different Raspberry Pi Modules, the optional items may vary slightly but they all aim to convert the
interfaces to Raspberry Pi standards.

Pi Zero Pi
Pi Zero Pi A+ Pi 3A+ Pi B+/2B Pi 4B Pi 5
W 3B/3B+
Monitor Yes (All)
Mouse Yes (All)
Keyboard Yes (All)
Micro-HDMI to
HDMI Adapter & Yes No Yes No No No No No
Cable
Micro-HDMI to
HDMI Adapter & No Yes
Cable
Micro-USB to
USB-A Adapter &
Yes No Yes No
Cable (Micro USB
OTG Cable)
USB HUB Yes Yes Yes Yes No No No No
USB to Ethernet Internal
select one from optional
Interface Integration
two or select Internal Integration
USB Wi-Fi Receiver Internal
two from two optional
Integration

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 █ [Link] Chapter 0 Raspberry Pi Preparation 19

Required Accessories for Remote Desktop

If you do not have an independent monitor, or if you want to use a remote desktop, you first need to login
to Raspberry Pi through SSH, and then open the VNC or RDP service. This requires the following accessories.

Pi Zero Pi Zero W Pi A+ Pi 3A+ Pi B+/2B Pi 3B/3B+/4B/5

Micro-USB to USB-A
Adapter & Cable
Yes Yes No
(Micro USB OTG
NO
Cable)
USB to Ethernet
Yes Yes Yes
interface

Raspberry Pi OS

Headless Installation - on Windows:

[Link]
Headless Installation – on macOS
[Link]

Automatically Method
You can follow the official method to install the system for raspberry pi via visiting link below:
[Link]
In this way, the system will be downloaded automatically via the application.

Manually Method
After installing the Imager Tool in the link above. You can also download the system manually first.

Visit [Link]

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20 Chapter 0 Raspberry Pi Preparation [Link] █

You can download the latest system image. The following is just for your reference.

And then the zip file is downloaded.

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 █ [Link] Chapter 0 Raspberry Pi Preparation 21

Write System to Micro SD Card

First, put your Micro SD card into card reader and connect it to USB port of PC.

Then open imager toll. Clicked Choose Device.

Select a Raspberry PI Device based on your Raspberry PI version. It will help us filter out the right version of
the system for the Raspberry PI.

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22 Chapter 0 Raspberry Pi Preparation [Link] █

Clicked Operating System.

Choose system that you just downloaded in Use custom.

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 █ [Link] Chapter 0 Raspberry Pi Preparation 23

Choose the SD card. Then click “Next”.

You can configure the Raspberry PI according to your needs.

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24 Chapter 0 Raspberry Pi Preparation [Link] █

Enable ssh and configure WiFi

On the GENERAL screen, configure your information based on your actual situation.
Enable SSH on the SERVICES page.

Click Save, in the new screen, click Yes, wait for SD to brush into the Raspberry system.

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 █ [Link] Chapter 0 Raspberry Pi Preparation 25

Insert SD card
Then remove SD card from card reader and insert it into Raspberry Pi.

Connect to the power supply and wait for the Raspberry PI to turn on.

Need support?  [Link]

26 Chapter 0 Raspberry Pi Preparation [Link] █

Getting Started with Raspberry Pi

Monitor desktop

If you do not have a spare monitor, please skip to next section Remote desktop & VNC. If you have a spare
monitor, please follow the steps in this section.
After the system is written successfully, take out Micro SD Card and put it into the SD card slot of RPi. Then
connect your RPi to the monitor through the HDMI port, attach your mouse and keyboard through the USB
ports, attach a network cable to the network port and finally, connect your power supply (making sure that it
meets the specifications required by your RPi Module Version. Your RPi should start (power up). Later, after
setup, you will need to enter your user name and password to login. The default user name: pi; password:
raspberry. After login, you should see the following screen.

Congratulations! You have successfully installed the RASPBERRY PI OS operating system on your RPi.
Raspberry Pi 5, 4B, 3B+/3B integrates a Wi-Fi adaptor. You can use it to connect to your Wi-Fi. Then you can
use the wireless remote desktop to control your RPi. This will be helpful for the following work. Raspberry Pi
of other models can use wireless remote desktop through accessing an external USB wireless card.

Connect WiFi

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 █ [Link] Chapter 0 Raspberry Pi Preparation 27

In addition, your VNC Viewer window may zoom your Raspberry Pi desktop. You can change it. On your
VNC View control panel, click right key. And select Properties->Options label->Scaling. Then set proper
scaling.

Here, you have logged in to Raspberry Pi successfully by using VNC Viewer and operated proper setting.

Raspberry Pi 5/4B/3B+/3B integrates a Wi-Fi [Link] you did not connect Pi to WiFi. You can connect it to
wirelessly control the robot.

Need support?  [Link]

28 Chapter 0 Raspberry Pi Preparation [Link] █

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 █ [Link] Chapter 0 Raspberry Pi Preparation 29

Remote desktop & VNC

If you have logged in Raspberry Pi via display, you can skip to VNC Viewer.

If you don't have a spare display, mouse and keyboard for your RPi, you can use a remote desktop to share
a display, keyboard, and mouse with your PC. Below is how to use:
MAC OS remote desktop and Windows OS remote desktop.
MAC OS Remote Desktop
Open the terminal and type following command. If this command doesn’t work, please move to next page.
ssh pi@[Link]
The password is raspberry by default, case sensitive. You may need to type yes during the process.

Need support?  [Link]

30 Chapter 0 Raspberry Pi Preparation [Link] █

You can also use the IP address to log in Pi.

Enter router client to inquiry IP address named “raspberry pi”. For example, I have inquired to my RPi IP
address, and it is “[Link]".

Open the terminal and type following command.

ssh pi@[Link]
When you see pi@raspberrypi:~ $, you have logged in Pi successfully. Then you can skip to next section.

Then you can skip to VNC Viewer.

Need support?  [Link]

 █ [Link] Chapter 0 Raspberry Pi Preparation 31

Windows OS Remote Desktop

If you are using win10, you can use follow way to login Raspberry Pi without desktop.
Press Win+R. Enter cmd. Then use this command to check IP:
ping -4 [Link]

Then [Link] is my Raspberry Pi IP.

Or enter router client to inquiry IP address named “raspberrypi”. For example, I have inquired to my RPi
IP address, and it is “[Link]".
ssh pi@xxxxxxxxxxx(IP address)
Enter the following command：
ssh pi@[Link]
The default password is “raspberry”, case sensitive.
When you see the following prompt, type in yes, as shown below:

“pi@raspberrypi:～ $” indicates that you have successfully connected to Rpi, as shown below.

Please note that the typing is invisible when you enter the password. Make sure you type it correctly.

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32 Chapter 0 Raspberry Pi Preparation [Link] █

Enable VNC Viewer

Type the following command. And select Interface Options→P5 VNC → Enter→Yes→OK. Here Raspberry Pi
may need be restarted, and choose ok. Then open VNC interface.
sudo raspi-config

Need support?  [Link]

 █ [Link] Chapter 0 Raspberry Pi Preparation 33

Then download and install VNC Viewer according to your computer system by click following link:
[Link]
After installation is completed, open VNC Viewer. And click File → New Connection. Then the interface is
shown below.

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34 Chapter 0 Raspberry Pi Preparation [Link] █

Enter ip address of your Raspberry Pi and fill in a name. Then click OK.
.

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 █ [Link] Chapter 0 Raspberry Pi Preparation 35

Then on the VNC Viewer panel, double-click new connection you just created,

and the following dialog box pops up.

Enter username: pi and Password: raspberry. And click OK.

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36 Chapter 0 Raspberry Pi Preparation [Link] █

Here, you have logged in to Raspberry Pi successfully by using VNC Viewer.

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 █ [Link] Chapter 1 Software installation and Test (necessary) 37

Chapter 1 Software installation and Test (necessary)

If you have any concerns, please feel free to contact us via support@[Link]

In this chapter, we will make some necessary preparation: start your Pi Raspberry and install some necessary
libraries. Then test some parts. Batteries are needed when driving peripherals such as motors, servos, LEDs,
etc.

Note:
1, Please use Raspberry Pi OS with Desktop
2, The installation of libraries takes much time. You can power Raspberry Pi with a power supply Cable.
3, If you are using remote desktop to login Raspberry Pi, you need to use VNC viewer.

Vedio: [Link]

Step 1 Obtain the Code

To download the code, you can power Raspberry Pi with a power supply cable or switch on S1 (Power Switch).
Then open the Raspberry Pi and the terminal. You can open the terminal by clicking as shown below, or you
can press “CTRL + ALT + T” on the desktop.

Terminal

The terminal is shown below:

Open the terminal and type the following commands to obtain the car code. And the code will be placed in
the directory "Pi". (Note: Here are two commands. Please execute them in order.)
cd ~
git clone --depth 1 [Link]

Need support?  [Link]

38 Chapter 1 Software installation and Test (necessary) [Link] █

Downloading takes some time. Please wait with patience.

You can also find and download the code by visiting our official website ([Link] or our
GitHub repository ([Link]
If you have never learned python before, you can learn some basics through the following link:
[Link]

Step2 Install the Needed Libraries

We have wrriten a Python script for you to install all dependency libraries automatically.
1. Change the root.
sudo chmod 755 -R ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi
2. Execute following commands to enter directory of “[Link]”.
cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code

3. Run [Link]
sudo python [Link]

If it is your first time to run the script, it will ask you to input the camera type. At this point, input the content
according to the camera you have. (The one included in this kit is of the type ov5647).

Need support?  [Link]

 █ [Link] Chapter 1 Software installation and Test (necessary) 39

OV5670 Imx219

If your Rpi is a Pi 5, it will ask you which camera interface to use. You can type in cam0 or cam1 based on the
interface you want to use.
Note: Make sure you connect the camera cable to the corresponding interface.

If it is not Raspberry Pi, this setting is not needed, as there is only camera interface available.

Cam1 Cam0

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40 Chapter 1 Software installation and Test (necessary) [Link] █

Reboot your Raspberry Pi after installing the libraries.

sudo reboot

The reboot of the pi takes some time, please wait with patience.

If the installation fails, please rerun [Link]. After the installation is completed, restart the Raspberry Pi. Most
installation failures are caused by network reasons.
sudo python [Link]

Need support?  [Link]

 █ [Link] Chapter 2 Assemble Smart Car 41

Chapter 2 Assemble Smart Car

Vedio: [Link]
If you have any concerns, please feel free to contact us via support@[Link]
Step 1 Install line tracking sensor.
Secure the line tracking sensor to the acrylic using two M3X12 screws and two M3 nuts.

M3X12 screw

M3 nut

Step 2
Attach four acrylic support frames to the acrylic using four M3X12 screws and four M3 nuts. Note the
position of the round holes in the acrylic support frame.

M3 nut
round holes

M3X12 screw

Need support?  [Link]

42 Chapter 2 Assemble Smart Car [Link] █

It looks like below after assembled

Step 3
Using a Half Tooth Screw M4*50 and an M4 nut, assemble the drive wheel as shown below.

Half Tooth Screw M4*50

M4 nut

Same steps to assemble the other drive wheel.

Step 4
Secure the driving wheel to the acrylic support frame using 2 M4 nuts.

M4 nut M4 nut

Need support?  [Link]

█ [Link] Chapter 2 Assemble Smart Car 43

Step 5
There is a special fixed bracket to fix motor, which contains an aluminum bracket, two M3*30 screws, two
M3*8 screws, and two M3 nuts, as shown below:
Use 2 M3x30 screws and 2 M3 nuts.
Do NOT remove the cable tie on the motor!

Step 6 Connect coupling with motor.

Use an M3x8 screw to connect coupling with motor. (Use the screw in the M3x8 screw bag.)

Coupling with
bore 6mm

M3*8

Step 7
Attach the track driver to the motor using an M3x8 screw. (Use the screw in the M3x8 screw bag.))

M3*8

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44 Chapter 2 Assemble Smart Car [Link] █

Step 8
Put the track on as shown in the picture below.

Use two M3x8 screws from the motor bracket bag at the bottom to hold the motor in place.

M3*8 in
motor bracket
bag

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█ [Link] Chapter 2 Assemble Smart Car 45

Step 9 With the same steps, install the motor and track on the other side.

Step 10
Attach the camera and ultrasound to the acrylic using eight M1.4x5 screws.

M1.4*5

M1.4*5

If they cannot be installed, please flip the acrylic board. The hole sizes are different on two sides.

Need support?  [Link]

46 Chapter 2 Assemble Smart Car [Link] █

Step 11
Mount the camera and ultrasound onto the acrylic using one M3x12 screw and one M3 nut.

M3*12

Step 12
Use four M3x8 screws to fix four M3x24 standoff onto the acrylic.

Standoff M3*24

M3*8

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█ [Link] Chapter 2 Assemble Smart Car 47

Step 13
Use 4 M3x10 screws and 4 M3 nuts to secure the battery case to another piece of acrylic.

M3*10

M3 Nut

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48 Chapter 2 Assemble Smart Car [Link] █

Step 14
Attach 4 M2.5x6+6 screws to the other side of the acrylic using 4 M2.5x7 screws.

M2.5*6+6

M2.5*7

Step 15
Using 2 M3x12 screws and 2 M3 nuts, secure the two acrylic connectors to the acrylic sheet. Please note
that the shape of the acrylic is not the same, and their position is fixed.

M3*12

M3*12

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█ [Link] Chapter 2 Assemble Smart Car 49

Step 16
Attach an M4x10 Rivet to the acrylic as shown in the image below.

Rivet
M4*10

Step 17
Using 2 M2x20 screws and 2 M2 nuts, attach the Opaque Black Servo and 2 acrylics to the bottom acrylic.
Servo shaft is below.

M2*20

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50 Chapter 2 Assemble Smart Car [Link] █

The installation is complete as shown in the following figure.

Step 18
Install Raspberry PI.

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█ [Link] Chapter 2 Assemble Smart Car 51

Step 19
Install 4 M2.5x11 standoff onto the Raspberry PI.

Standoff
M2.5*11

Step 20 Conect camera.

The CSI camera must be connected or disconnected under no power and when Raspberry Pi is shut
down, or the camera may be burned. The board was attached to the Raspberry PI using four M3x8
screws.。

Need support?  [Link]

52 Chapter 2 Assemble Smart Car [Link] █

√ ×

Pay attention to the Blue bar of cable.

√ ×

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█ [Link] Chapter 2 Assemble Smart Car 53

Attention for Pi 5 users: As we have set the camera interface when installing the libraries in the
previous chapter, please connect the camera to the corresponding interface.

Cam1 Cam0

If you want to change the interface, please repeat the library installation steps to set another interface.
Pay attention to the Blue bar of cable.

Need support?  [Link]

54 Chapter 2 Assemble Smart Car [Link] █

Step 21 Install the upper and lower acrylic sheets together using four M3x8 screws.

Note: The images of the car board may look different from the one you receive (V1.0 or V2.0). By the way,
the interface design of the two version is the same, so the operation on them are the same. You can just
follow this book to use it.

Tank Smart Car Board V1.0 Tank Smart Car Board V2.0

Need support?  [Link]

█ [Link] Chapter 2 Assemble Smart Car 55

Step 22 Install the battery according to the battery box instructions.

Turn on the switch of battery holder.

Step 23 Complete other wiring.

Tank Smart Car Board V1.0 Tank Smart Car Board V2.0

Need support?  [Link]

56 Chapter 2 Assemble Smart Car [Link] █

The servo wiring varies on the two board versions.

If your board is Version 1.0, please connect as shown below:

Servo 1
Port 8

Servo 0
Port 7

Need support?  [Link]

█ [Link] Chapter 2 Assemble Smart Car 57

If it is version 2.0, connect in the following way.

Servo 1
Port 13
Servo 0
Port 12

Step 24 Make servo rotate to 90°.

Turn on the two switches.

Execute following commands in terminal one by one.

assembling the servos, please perform the following steps to adjust the servos to appropriate angles;
otherwise it will affect the final effect.
1. Run the following command to enter the directory
Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server/

Need support?  [Link]

58 Chapter 2 Assemble Smart Car [Link] █

2. Run the following command the current directory.

sudo python [Link]
If your Raspberry pie is not Pi5 and your PCB version is V1.0, run the following command before
running the [Link].
sudo pigpiod
If you want to end the pigpio process, run the following command.
sudo killall pigpiod

Result:
The two servos will spin to the designated angles. If the servos are already at that position, nothing will be
observed upon running the code.

Keep the program running during the servo assembly process to avoid assembly offset.

Need support?  [Link]

█ [Link] Chapter 2 Assemble Smart Car 59

Step 26
Install using the screws in the Servo package as shown below.

Screw in servo
package

Install only after Servo has been rotated to a specified Angle.

Step 27 Mount the acrylic lever to the trolley using 2 sets of M4x10 Rivet.

Rivet
M4*10

Rivet
M4*10

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60 Chapter 2 Assemble Smart Car [Link] █

Step 28
Using 2 M3x12 screws and 2 M3 nuts, install the acrylic as shown below.

M3 Nut

M3*12

M3 Nut

M3*12

Step 29 Install using 4 M4x10 rivets as shown below.

M4*10
Rivet

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█ [Link] Chapter 2 Assemble Smart Car 61

Step 30 Install the structure of the previous step on the trolley. Note the direction of the structure.

Pay attention to this

Step 31
Install the clear black steering gear to the trolley using 2 M2x20 screws and 2 M2 nuts.
Notice that the Servo axis of rotation is on the left.

Pay attention to this

M2*20

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62 Chapter 2 Assemble Smart Car [Link] █

Step 32 Using 2 M2x20 screws and 2 M2 nuts, secure the three acrylics together. At the same time, install
using the steering wheel and screws in the Servo package as shown below.

Screw in servo
package M2*20

M2 Nut

Step 33
Install using the screws in the Servo package as shown below.

Screw in servo package

Install only after Servo has been rotated to a specified Angle.

You can press “Ctrl+C” to end the [Link] program after finishing servo assembly.

Need support?  [Link]

█ [Link] Chapter 2 Assemble Smart Car 63

Step 34 Use two M3x8 screws to fix two M3x10 standoff into the acrylic.

M3*8 M3*8

Standoff Standoff
M3*10 M3*10

Step 35 Using 2 M2x20 screws and 2 M2 nuts, secure the three acrylics together.

M2*20
M2*20

M2 Nut M2 Nut

Step 36 Install using a set of M4x10 Rivet as shown below.

Rivet
M4*10

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64 Chapter 2 Assemble Smart Car [Link] █

Step 37
Use one M3x8 screw to install the structure of the previous step to the trolley, as shown below.

M3*8

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 █ [Link] Chapter 3 Module test (necessary) 65

Chapter 3 Module test (necessary)

If you have any concerns, please feel free to contact us via support@[Link]
This section requires that the car be equipped with batteries, and S1 power switch and S2 motor switch should
be pressed until the corresponding power indicator lights up.

S2:
S1:
Motor and servo
Main power switch
power switch

During the test, the motor will work. So you can disconnect the wheels or put it on the ground to avoid that
it falls down and is damaged. Next, test RGB LED, motor, ultrasonic module, servo, etc.
Button S1 is the Raspberry PI power supply switch. When you only press S1, you can perform other tests
except motor and servo.
Button S2 is the motor and servo power switch. When you press S1 and S2, you can test the motor and servo.

You can still power Raspberry Pi with a power supply Cable when switches are pressed.

If you have never learned python before, you can learn some basic knowledge via the link below:
[Link]

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66 Chapter 3 Module test (necessary) [Link] █

Motor

Run program

Before running the program, please make sure all needed libraries are installed; otherwise, the program will
fail to run.

Open the terminal of Raspberry Pi. Enter the following commands to test the motor.
1. Use the cd command to enter the directory where [Link] is located.
cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Execute [Link] command:
sudo python [Link] Motor

Result:
The car moves forward for 1 seconds, then moves back for 1 seconds, then turns left for 1 seconds, turns right
for 1 seconds, then stops. You can press "Ctrl + C" to end the program ahead of time. If the car doesn’t
work normally, please check if both switches are pressed.

If the direction is reversed, it moves back then move forward, please exchange wiring of the two motors.

Need support?  [Link]

 █ [Link] Chapter 3 Module test (necessary) 67

The code for motor in [Link] is as below:

1 def test_Motor():
2 from motor import tankMotor # Import the tankMotor class from the motor
3 module
4 import time # Import the time module for sleep functionality
5 print('Program is starting ... ') # Print a start message
6 PWM = tankMotor() # Initialize the tankMotor instance
7 try:
8 [Link](2000, 2000) # Move the car forward
9 print("The car is moving forward") # Print a status message
10 [Link](1) # Wait for 1 second
11 [Link](-2000, -2000) # Move the car backward
12 print("The car is going backwards") # Print a status message
13 [Link](1) # Wait for 1 second
14 [Link](-2000, 2000) # Turn the car left
15 print("The car is turning left") # Print a status message
16 [Link](1) # Wait for 1 second
17 [Link](2000, -2000) # Turn the car right
18 print("The car is turning right") # Print a status message
19 [Link](1) # Wait for 1 second
20 [Link](0, 0) # Stop the car
21 print("\nEnd of program") # Print an end message
22 except KeyboardInterrupt: # Handle keyboard interrupt (Ctrl+C)
23 [Link](0, 0) # Stop the car
24 print("\nEnd of program") # Print an end message
If you are interested in the underlying code, you can refer to [Link] for more details.

Reference
setMotorModel(data1,data2)
This function has two input parameters, which control the left motor and the right motor respectively. When
the input parameter is in the range of 0~4095, the motor rotates forward. In the range of -4095~0, the
motor rotates in reverse. The larger the absolute value, the faster the motor. When the input is 0, the motor
will stop. If the function input is as follows: setMotorModel(2000,2000), the two motors will rotate forward
and the car will move forward.

Need support?  [Link]

68 Chapter 3 Module test (necessary) [Link] █

Infrared Line tracking module

Run program
Enter the following command in the terminal to test line tracking module.
If the terminal displays the directory as below (where [Link] is located), you can directly execute the [Link]
command.

1. If not, execute the cd command:

cd ～/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Execute [Link] command:
sudo python [Link] Infrared

Result:
When the black tape is at the left of the sensor, it will print “Left” on the terminal; when it is at the middle,
print “Middle”; and at the right, print “Right”. You can press “CTRL+C” to end the program.

Need support?  [Link]

 █ [Link] Chapter 3 Module test (necessary) 69

The code is as below:

1 def test_Infrared():
2 from infrared import Infrared # Import the Infrared class from the infrared module
3 import time # Import the time module for sleep functionality
4 print('Program is starting ... ') # Print a start message
5 infrared = Infrared() # Initialize the Infrared instance
6 try:
7 while True:
8 if infrared.read_one_infrared(1) == 0 and infrared.read_one_infrared(2) == 1 and
9 infrared.read_one_infrared(3) == 0:
10 print('Middle') # Print a middle detection message
11 elif infrared.read_one_infrared(1) == 1 and infrared.read_one_infrared(2) == 0 and
12 infrared.read_one_infrared(3) == 1:
13 print('Middle') # Print a middle detection message
14 elif infrared.read_one_infrared(1) == 0 and infrared.read_one_infrared(2) == 0 and
15 infrared.read_one_infrared(3) == 1:
16 print('Right') # Print a right detection message
17 elif infrared.read_one_infrared(1) == 1 and infrared.read_one_infrared(2) == 1 and
18 infrared.read_one_infrared(3) == 0:
19 print('Right') # Print a right detection message
20 elif infrared.read_one_infrared(1) == 1 and infrared.read_one_infrared(2) == 0 and
21 infrared.read_one_infrared(3) == 0:
22 print('Left') # Print a left detection message
23 elif infrared.read_one_infrared(1) == 0 and infrared.read_one_infrared(2) == 1 and
24 infrared.read_one_infrared(3) == 1:
25 print('Left') # Print a left detection message
26 [Link](0.1) # Wait for 0.1 seconds
27 except KeyboardInterrupt: # Handle keyboard interrupt (Ctrl+C)
28 print("\nEnd of program") # Print an end message
you are interested in underlying code, please refer to [Link] file.
Reference
[Link](IO)
This function has an input parameter. If the IO input is high level, [Link](IO) returns True. If the IO input
is low level, [Link](IO) returns False.

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70 Chapter 3 Module test (necessary) [Link] █

LED

There are 4 RGB LEDs on the smart car board, as shownbelow. You can control them separately.

LED1 LED0

LED2 LED3

Run program
Enter the following commands to test LEDs.
If the terminal displays the directory as below (where [Link] is located), you can directly execute the [Link]
command.

1. If not, execute the cd command:

cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Execute [Link] command:
sudo python [Link] Led

Need support?  [Link]

 █ [Link] Chapter 3 Module test (necessary) 71

Note: On the board V1.0, the WS821x LEDs are connected to GPIO 18, which can be used on Raspberry Pi
series 1-4, but not on Rpi 5.
On version 2.0, we connect them to GPIO10, which applies SPI interface, so it is compatible with Raspberry Pi
series 1-5.

Tank Smart Car Board V1.0 Tank Smart Car Board V2.0

At the first time you run the code, the system will check your hardware version. Please enter the version
according to the board you receive. You can refer to the images above to check the version.

After you input the version (here we take verion 2 as an example), the LED test program will be run. If the
LEDs do not respond, please check whether you type in a wrong version.

Need support?  [Link]

72 Chapter 3 Module test (necessary) [Link] █

Result:

When the program is running, the LEDs will blink with different modes and colors. The order of the modes
is: ledIndex->colorWipe->theaterChaseRainbow->rainbow->rainbowCycle
You can press CTRL+C to end the program.

Note, the PCB version must be correctly input, which depends whether the code can run successfully. If you
input a correct version, please follow the steps below to configure it again.
1. Enter the directory /Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server/, and run the
[Link] under Server folder.
cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server/
sudo python [Link]
2. Input the number according to the board version.

The code of [Link] is as below:

1 def test_Led():
2 from led import Led # Import the Led class from the led module
3 import time # Import the time module for sleep
4 functionality
5 print('Program is starting ... ') # Print a start message
6 led = Led() # Initialize the Led instance
7 try:
8 while True:
9 print("ledIndex test") # Print a test message

Need support?  [Link]

 █ [Link] Chapter 3 Module test (necessary) 73

10 [Link](0x01, 255, 0, 0) # Set LED 1 to red

11 [Link](0x02, 0, 255, 0) # Set LED 2 to green
12 [Link](0x04, 0, 0, 255) # Set LED 3 to blue
13 [Link](0x08, 255, 255, 255) # Set LED 4 to white
14 [Link](3) # Wait for 3 seconds
15
16 print("colorWipe test") # Print a test message
17 [Link]((255, 0, 0)) # Perform a red color wipe
18 [Link]((0, 255, 0)) # Perform a green color wipe
19 [Link]((0, 0, 255)) # Perform a blue color wipe
20 [Link](1) # Wait for 1 second
21
22 print("theaterChaseRainbow test") # Print a test message
23 [Link]() # Perform a theater chase rainbow effect
24 print("rainbow test") # Print a test message
25 [Link]() # Perform a rainbow effect
26 print("rainbowCycle test") # Print a test message
27 [Link]() # Perform a rainbow cycle effect
28
29 [Link]((0, 0, 0), 10) # Turn off all LEDs
30 except KeyboardInterrupt: # Handle keyboard interrupt (Ctrl+C)
31 [Link]((0, 0, 0), 10) # Turn off all LEDs
32 print("\nEnd of program") # Print an end message
If you are interested in the underlying code, you can check the [Link] file.

Need support?  [Link]

74 Chapter 3 Module test (necessary) [Link] █

Servo

Run program
Enter the following commands in the terminal to test servos.
If the terminal displays the directory as below (where [Link] is located), you can directly execute the [Link]
command.

1. If not, execute the cd command:

cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Execute [Link] command:
sudo python [Link] Servo

If your Raspberry pie is not Pi5 and your PCB version is V1.0, run the following command before running the
[Link].
sudo pigpiod
If you want to end the pigpio process, run the following command.
sudo killall pigpiod

The servo will repeat the following: servo 0 is closed gradually, servo 1 from top to bottom, and then from
bottom to top, servo 0 is opened gradually. You can press Ctrl + C to end the program.

When testing servo steering gear, you need to observe whether servo 0 is closed to the minimum, whether
servo 1 hits the ground during the descent,
When servo 0 is just closed to the minimum and servo 1 drops close to the ground without touching the
ground, it means that your servo 0 and servo 1 are properly installed.
When other conditions occur, please check that the installation steps of the relevant servo are correct.
For details, see Step 24 in Chapter 2.

The code is as below:

1 def test_Servo():
2 from servo import Servo # Import the Servo class from the servo module
3 import time # Import the time module for sleep functionality
4 print('Program is starting ... ') # Print a start message
5 servo = Servo() # Initialize the Servo instance
6 try:
7 while True:

Need support?  [Link]

 █ [Link] Chapter 3 Module test (necessary) 75

8 for i in range(90, 150, 1):

9 [Link]('0', i) # Set servo 0 to angle i
10 [Link](0.01) # Wait for 0.01 seconds
11 for i in range(140, 90, -1):
12 [Link]('1', i) # Set servo 1 to angle i
13 [Link](0.01) # Wait for 0.01 seconds
14 for i in range(90, 140, 1):
15 [Link]('1', i) # Set servo 1 to angle i
16 [Link](0.01) # Wait for 0.01 seconds
17 for i in range(150, 90, -1):
18 [Link]('0', i) # Set servo 0 to angle i
19 [Link](0.01) # Wait for 0.01 seconds
20 except KeyboardInterrupt: # Handle keyboard interrupt (Ctrl+C)
21 [Link]('0', 90) # Set servo 0 to 90 degrees
22 [Link]('1', 140) # Set servo 1 to 140 degrees
23 print("\nEnd of program") # Print an end message

Reference
setServoAngle(Servo,angle)
There are 2 parameters.
The first one is related to servo index.
The second one is related to the angle of servos.
For example,
setServoAngle (‘0’,90) makes servo0 rotate to 90°.
setServoAngle (‘1’,90) makes servo1 rotate to 90°.

Need support?  [Link]

76 Chapter 3 Module test (necessary) [Link] █

Ultrasonic module

Next, use jumper wires F/F to connect ultrasonic module with pins on smart car board.

When connecting the ultrasonic module, you should keep the silk screen of the ultrasonic module and the
smart car board consistent. Vcc should be connected to 5V, Trig to TRIG, Echo to ECHO, and Gnd to GND.
If the connection is wrong, for example, if Vcc is connected to GND, and Gnd is connected to 5V, it will
cause the damage to ultrasonic module. After the wiring is completed, you can start testing.

Run program
Enter following command in the terminal:
If the terminal displays the directory as below (where [Link] is located). You can directly execute the [Link]
command.

1. If not, execute the cd command:

cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Execute [Link] command:
sudo python [Link] Ultrasonic

Need support?  [Link]

 █ [Link] Chapter 3 Module test (necessary) 77

Result:
Every 0.3s, the distance between the obstacle and the ultrasonic module will be printed out, and you can press
"Ctrl + C" to end the program.

The code is as below:

1 def test_Ultrasonic():
2 from ultrasonic import Ultrasonic # Import the Ultrasonic class from the ultrasonic module
3 import time # Import the time module for sleep functionality
4 print('Program is starting ... ') # Print a start message
5 ultrasonic = Ultrasonic() # Initialize the Ultrasonic instance
6 try:
7 while True:
8 distance = ultrasonic.get_distance() # Get the distance to the obstacle
9 print("Obstacle distance is " + str(distance) + "CM") # Print the distance
10 [Link](0.3) # Wait for 0.3 seconds
11 except KeyboardInterrupt: # Handle keyboard interrupt (Ctrl+C)
12 print("\nEnd of program") # Print an end message

Reference
get_distance()
This function is used to obtain the distance between ultrasonic module and obstacles in front of it, with unit
CM.

Need support?  [Link]

78 Chapter 3 Module test (necessary) [Link] █

Camera

Next let us connect the camera to smart car board.

First turn off S1 (Power Switch) and S2, shut down Raspberry Pi and disconnect power cable. If the data
cable is used to power the Raspberry Pi, disconnect the data cable and install the CSI camera to the Raspberry
Pi camera interface when the Raspberry Pi is powered off.
The CSI camera must be connected or disconnected under no power and when Raspberry Pi is shut
down, or the camera may be burned.

Run Program
If the terminal displays the directory as below, you can directly run the [Link].

1. If not, execute the cd command:

cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Execute [Link] command:
sudo python [Link] camera

Need support?  [Link]

 █ [Link] Chapter 3 Module test (necessary) 79

Results:
Five seconds after the program runs, it will take a picture in jpg format and save it to the current directory.
You can run the ls command to see if it is there.

Part of code is as below:

1 def test_Camera():
2 import time
3 from camera import Camera # Import the Camera class from the camera module
4 print("test camera") # Print a test message
5 camera = Camera() # Initialize the Camera instance
camera.start_image() # Start the camera
6 print("Take a photo and save it as '[Link]' after 5 seconds.")
7 [Link](5)
8 camera.save_image("[Link]") # Capture an image and save it as [Link]
9 [Link]() # Close the camera
10 print("Camera test finished") # Print a finish message

Need support?  [Link]

80 Chapter 4 Ultrasonic Obstacle Avoidance Car [Link] █

Chapter 4 Ultrasonic Obstacle Avoidance Car

If you have any concerns, please feel free to contact us via support@[Link]

Description

The obstacle avoidance function of the vehicle mainly uses HC-SR04 ultrasonic module. The ultrasonic module
will detect the distance between obstacles and the robot in real time, and then control the tank robot to move
according to different distances.
Run program
If the terminal displays the directory as below, you can directly run the [Link].

1. If not, execute the cd command:

cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Run the ultrasonic program.
sudo python [Link] Sonic

You can press "Ctrl + C" to end the program.

Part of code is as below:
1 def mode_ultrasonic(self):
2 # Get distance from ultrasonic sensor
3 distance = [Link].get_distance()
4 # print("Ultrasonic distance is " + str(distance) + "CM")
5
6 # Check if distance is valid
7 if distance != 0:
8 # If distance is less than 45 cm, move backward and turn left
9 if distance < 45:
10 [Link](-1500, -1500)
11 [Link](0.4)
12 [Link](-1500, 1500)
13 [Link](0.2)
14 # Otherwise, move forward
15 else:

Need support?  [Link]

 █ [Link] Chapter 4 Ultrasonic Obstacle Avoidance Car 81

16 [Link](1500, 1500)
17 # Sleep for a short duration
18 [Link](0.2)

Result analysis
When the tank robot detects that the distance between the obstacle and the car is less than 45cm, it will
successively retreat for a period of time and then turn left for a period of time. When the robot detects that
the distance between the obstacle and the robot is greater than or equal to 45cm, it will move forward.

In addition, you need to pay attention to the following:

In obstacle avoidance mode, only a single ultrasonic module is used for recognition, so in this mode, you
need to observe the movement of the car. When the car is misidentified, please stop the car as soon as
possible or pick up the car and place it in an open space. Otherwise, the car's manipulator servo could be
damaged due to a collision, and may even burn your Raspberry PI expansion board or your raspberry PI.

Need support?  [Link]

82 Chapter 5 Infrared tracking automatic wrecker [Link] █

Chapter 5 Infrared tracking automatic wrecker

If you have any concerns, please feel free to contact us via support@[Link]

Description

The circuit tracking function of the tank robot mainly uses infrared module. When the sensor detects a black
line, the corresponding LED lights up to control the tank robot's movement according to the values of the
three sensors. The tank robot detects whether there are obstacles on the road through the ultrasonic sensor
while finding the line. When there are obstacles, the tank robot starts the obstacle clearing function. After the
obstacle is cleared, the tank robot continues to find the line.
Run program
If the terminal displays the directory as below, you can directly run the program.

1. If not, execute the cd command:

cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Run the infrared car program.
sudo python [Link] Infrared

If your Raspberry pie is not Pi5 and your PCB version is V1.0, run the following command before running the
code.
sudo pigpiod
If you want to end the pigpio process, run the following command.
sudo killall pigpiod

You can press "Ctrl + C" to end the program.

Before running the project, you should use black tape to make a suitable closed track, place the car on the
track after the completion of the production, and then run the relevant code. After 1.5S, the car will start
the function of automatically removing obstacles.
When the car is in the task, you need to observe the movement of the car, when the car runs out of the
designated track, should stop the car or put the car on the original designated track.
The code is as below:
1 def mode_infrared(self):
2 # Get distance from ultrasonic sensor
3 distance = [Link].get_distance()
4 # Read all infrared sensors

Need support?  [Link]

 █ [Link] Chapter 5 Infrared tracking automatic wrecker 83

5 infrared_value = [Link].read_all_infrared()
6 # print("distance:", distance, "infrared:", infrared_value)
7
8 # Control motor based on infrared sensor values
9 if infrared_value == 2:
10 [Link](1200, 1200) # Move forward
11 elif infrared_value == 4:
12 [Link](-1500, 2500) # Turn left
13 elif infrared_value == 6:
14 [Link](-2000, 4000) # Turn left more sharply
15 elif infrared_value == 1:
16 [Link](2500, -1500) # Turn right
17 elif infrared_value == 3:
18 [Link](4000, -2000) # Turn right more sharply
19 elif infrared_value == 7:
20 [Link](0, 0) # Stop
21
22 # If distance is between 5.0 and 12.0 cm, perform clamp operations
23 if distance > 5.0 and distance <= 12.0:
24 [Link](0, 0) # Stop motor
25 self.set_mode_clamp(1) # Set clamp mode to 1 (up)
26 while self.get_mode_clamp() == 1 and self.infrared_run_stop == False:
27 self.mode_clamp() # Perform clamp up operation
28 if self.infrared_run_stop == True:
29 [Link](0, 0) # Stop motor if infrared run stop is True
30 return
31 [Link](-1500, 1500) # Turn left
32 [Link](1.5)
33 [Link](0, 0) # Stop motor
34 self.set_mode_clamp(2) # Set clamp mode to 2 (down)
35 while self.get_mode_clamp() == 2 and self.infrared_run_stop == False:
36 self.mode_clamp() # Perform clamp down operation
37 if self.infrared_run_stop == True:
38 [Link](0, 0) # Stop motor if infrared run stop is True
39 return
40 [Link](1500, -1500) # Turn right
41 [Link](1.4)
Result analysis
The car has the functions of line inspection and automatic obstacle clearance. The specific realization of the
car's line inspection function is as follows:
There are three sensors on the left, center and right. When the black line is detected by the sensor, it will
display a high level, or it is low. When the sensor left: high, middle: low, right: low, the car gently turns left.
When the sensor is left: high, middle: high, right: low, the car turns left. When the sensor left: low, medium:
high, right: low, the car goes straight. When the sensor left: low, medium: low, right: high, the car gently turns

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84 Chapter 5 Infrared tracking automatic wrecker [Link] █

right. When the sensor is left: low, middle: high, right: high, the car turns right.
The car's automatic obstacle clearance function is as follows: under the condition of line inspection, the car
detects whether there are obstacles in front of the car in real time through the ultrasonic module. When the
car detects obstacles in front of the car, the car stops and removes the obstacles through the steering gear.
After clearing, the car continues to perform the function of line inspection.

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Chapter 6 Smart video car

If you have any concerns, please feel free to contact us via support@[Link]

The smart video car integrates the previous functions of obstacle avoidance, line tracking and obstacle clearing,
video transmission, ball tracking, LED and so on. It consists of a server and a client, so it can be controlled
remotely.

Start Start

Open server Open client

Wait Connect
connection server

No
No

If success
If success

Yes
Yes
Wait
Send
command
command

No Yes

If get
command If success

Done No
Yes success
keep
Execute
sending
Command

End End

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Server

Open Server

Enter the following command in the terminal.

1. Use cd command to enter directory where [Link] is located:
cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server
2. Run [Link]:
sudo python [Link]

If your Raspberry pie is not Pi5 and your PCB version is V1.0, run the following command before running the
code.
sudo pigpiod
If you want to end the pigpio process, run the following command.
sudo killall pigpiod
The interface is as below:

The Server is ON when the code is run. To turn it off, you can click the “Off” button.
To exit the server, you can close the server interface or run CTRL+C on the Terminal.
If you are very interested in the implementation of the code, you can view the code:
Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server

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Sever Auto Start

1 Open the terminal and execute the following two commands respectively to create a “[Link]” file.
cd ~
sudo touch [Link]
2 Open “[Link]”.
sudo nano [Link]
3 Add the following contents to “[Link]” file.
#!/bin/sh
cd "/home/pi/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server"
pwd
sleep 10
sudo python [Link]
Press Ctrl + O and then press Enter to save it. Press Ctrl+X to exit.

4 Modify permissions.
sudo chmod 777 [Link]
5 Enter the following command to create a directory.
mkdir ~/.config/autostart/
6 create and open “[Link]” file
sudo nano .config/autostart/[Link]
7 Add the following content to “[Link]” file.
[Desktop Entry]
Type=Application
Name=start
NoDisplay=true
Exec=/home/pi/[Link]
Press Ctrl + O and then press Enter to save it. Press Ctrl+X to exit.
8 Modify permissions.
sudo chmod +x .config/autostart/[Link]
9 Finally enter the following content to reboot Raspberry Pi.
sudo reboot
Note: To cancel auto start, please delete the files “[Link]” and “[Link]” created above.

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Client

The client connects to the server through TCP, which receives the video stream and other commands from
the server. And it also sends commands to the server to control the car.
Clients can run on different systems such as windows, macOS, and Linux. You need to install related software
and libraries.

Run client on windows system

There are two ways to run Client on Windows.

Option 1 Running executable file directly
Find the “[Link]” file in the specified directory, double click it and the Client is opened.

The client interface is shown as below:

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After the client opens successfully, you need open the Raspberry Pi and open server first, then enter the IP
address of the Raspberry Pi in the white IP edit box, and then click “Connect” to connect smart car to Raspberry
Pi. After the connection is successful, you can click on the controls on the interface to operate the car.
Note: when Raspberry Pi is shut down, server will be closed. You need open server again the next time.
If pressing forward but the car moves backward, please refer to page 66 to modify the code.

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The control interface of tank robot tracking ball is as follows:

Choose the color of the ball in your hand, take the Red ball as an example, when you click the button "red",
into the tank robot tracking red ball control program, when your environment is poor recognition of red,
you can click "Custom", by adjusting the HSV parameters to adjust the accuracy of recognition,
This recognition program is for color recognition, can track red objects not limited to red ball.

When the car motion control is abnormal, you can click the color button again to make the car stop moving.

After the color threshold is displayed, the recognition effect can be observed and the appropriate data can
be selected according to the following HSV color range table to improve the recognition accuracy.
The HSV color range is listed below:
black gray white red orange yellow green cyan blue purple
H- 0 0 0 0 156 11 26 35 78 100 125
H+ 180 180 180 10 180 25 34 77 99 124 155
S- 0 0 0 43 43 43 43 43 43 43
S+ 255 43 30 255 255 255 255 255 255 255
V- 0 46 221 46 46 46 46 46 46 46
V+ 46 220 255 255 255 255 255 255 255 255

Using red as an example, set HSV to the following:

[H-, S-, V-, H+, S+, V+] [0, 118, 31, 6, 255, 255]
You can adjust the value range to make the tracking better.

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Option 2 Install python3 and some related python libraries to run the client

If you want to modify the client, please follow this section.

This section will be completed in your computer with windows system, not Raspberry Pi.
There are many relevant software and libraries needed to be installed in Windows system, which takes a long
time. At this time, it does not need to run Server or use Raspberry Pi. You can shut down Raspberry Pi first.
After the installation is completed, you need to open Raspberry Pi and server again.

Install python3
Download the installation file:
[Link]

Click Latest Python 3 Release - Python 3.8.1

Choose and download Windows x86 executable installer. After downloading successfully, install it.

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Select “Add Python 3.8 to PATH”. You can choose other installation features.

Select all options and click “Next”.

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Here, my install location is D. You can also choose other location. Then click “Install”.

Wait installing.

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Now, installation is completed.

Install PyQt5、opencv、numpy and other libraries.

If have not download the zip file, do so via:
[Link]
Then unzip it and delete “-master” to rename it to “Freenove_Tank_Robot_Kit_for_Raspberry_Pi”.
Then put it into D disk for example.

You can also place it into other disks (like E), but the path in the following command should be modified
accordingly (replace D: by E:).
Press “win + R” and enter cmd, and click ok. Then enter following commands.
1. Enter D disk. (If you put it into E, it should be E:)
D:
2. Enter directory where setup_windows.py is located: (If you put it into E, it should be E:)
cd D:\Freenove_Tank_Robot_Kit_for_Raspberry_Pi\Code
3. Run setup_windows.py:
python3 setup_windows.py

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Or enter the unzipped directory Freenove_Tank_Robot_Kit_for_Raspberry_Pi\Code\Client.

If your python3 fails to execute, you can try using python with the following command:
python setup_windows.py

And double-click setup_client.py or open it with python3.

Installation will take some time. Just wait patiently. For successful installation, it will prompt "All libraries
installed successfully":

If not all installations are successful, it will prompt "Some libraries have not been installed yet. Please run '
Python3 setup_windows.py ' again", then you need to execute the Python3 setup_windows.py command again.
Most of the installation failures are caused by poor networks. You can check your network before installing.

Open client
Press “win + R” and enter cmd, and click ok. Then enter following commands.
1. Enter D disk. If you put it into E, it should be E:
D:
2. Enter directory where [Link] is located:
cd D:\Freenove_Tank_Robot_Kit_for_Raspberry_Pi\Code\Client
3. Run [Link]:
python [Link]

Or enter the unzipped directory and enter following directory:

Freenove_Tank_Robot_Kit_for_Raspberry_Pi\Code\Client. And double-click [Link] or open it with python
to open the client.

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96 Chapter 6 Smart video car [Link] █

The client interface is shown as below:

After the client opens successfully, you need open the Raspberry Pi and open server first, then enter the IP
address of the Raspberry Pi in the white IP edit box, and then click “Connect” to connect smart car to Raspberry
Pi. After the connection is successful, you can click on the controls on the interface to operate the car.
Note: when Raspberry Pi is shut down, server will be closed. You need open server again the next time.

If pressing forward but the car moves backward, please refer to page 63 to modify the code.

Control
And you can also control the car with following blue keys.

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The car has three work modes:

Mode Function
M-Free （Mode1） Free control mode
M-Sonic（Mode2） Ultrasonic obstacle avoidance mode
M-Line （Mode3） Infrared tracking automatically clears obstacles mode

The following is the corresponding operation of the buttons and keys.

Button on Client Key Action
ForWard W Move
BackWard S Back off
Turn Left A Turn left
Turn Right D Turn right
Left left arrow Turn camera left
Right right arrow Turn camera right
Up up arrow Turn camera up
Down down arrow Turn camera down
Home Home Turn camera back Home
Connect/ Disconnect C On/off Connection
Open Video/ Close Video V On/off Video
Led_Mode 1,2,3,4 L Switch Led Mode
The car work modes Q Switch the car work modes
Pinch_Object O Pinch Object
Drop_Object P Drop Object

The function of SliderBar is below:

SliderBar Function
Servo 1,2, SliderBar Servo 1, 2 are used to slightly adjust the
angle. you can slightly tune it via the SliderBar.

Other control information:

Control Function
IP address Edit box Enter IP address of Raspberry Pi
R,G,B Edit box Control the color of LED selected.
Button “Ultrasonic“ Show the distance from obstacle.

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When you enter the IP address for the first time, the program saves the IP address. When you close the
program and open the program again, the program automatically fills in the last IP address. The IP address
is saved in the “[Link]” file.
When you run the program for the first time, the contents of the "[Link]" file are: "IP address", then the program
page is opened as follows:

After you enter the address, for example, [Link], close the program and open the program page
again as follows:

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Run client on macOS system

Here take MacOS 10.13 as an example. To run the client on MacOS, you need to install some software and
libraries. At this time, it does not need to run the server or use the Raspberry Pi. So you can turn off the
Raspberry Pi first. After the installation is complete, turn on the Raspberry Pi and run the server. MacOS 10.13
comes with python2, but no python3. However, the programs in this project need run under python3, so you
need to install it first.

Install python3
Download installation package, link: [Link]

If your macOS is 11. Like 11.0, please install python 3.9.

If your macOS is NOT 11, like 10.15, please install python 3.8. If you have

installed python 3.9. You need uninstall it first.

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At bottom of the page, click macOS 64-bit installer and download installation package.

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Click Continue.

Click Continue

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Click Agree.

Click Install. If your computer has a password, enter the password and Install Software.

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Now the installation succeeds.

You can find it in Aapplications.

Install PyQt5、opencv、numpy and other libraries

If there is no code for this car in your macOS system device, you can download it via the link below:
[Link]
After downloaded successfully, you can find it under Downloads.

Open the Terminal.

Type following commands in Terminal.

[Link] “Downloads“, (Where the Car code is located. If your location for it is different, please enter the

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location in your device.)

cd Downloads
[Link] directory where setup_macos.py is located:
cd Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/
[Link] setup_macos.py:
python3 setup_macos.py

Installation will take some time. Just wait patiently. For successful installation, it will prompt "All libraries
installed successfully":

If not all installations are successful, it will prompt "Some libraries have not been installed yet. Please run
'python3 setup_macos.py' again", then you need to execute the python3 setup_macos.py command again.
Most of the installation failures are caused by poor networks. You can check your network before installing.

If you are using macOS under 11.0, like 10.15. Just skip to “Open client”.

If you are using macOS 11.0 or later version. Please run commands below:
pip3 uninstall PyQt5
pip3 install PyQt5

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Open client
Following the previous step, after the installation is completed, you are now in the directory where
setup_macos.py is located.

[Link] following command to enter Client folder.

cd Client/
[Link] following command to run [Link].
python3 [Link]

The control way of Raspberry Pi macOS System client is same with Windows (Control).

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106 Chapter 6 Smart video car [Link] █

Run client in Raspberry Pi (Linux system)

Install Opencv library

Execute the following commands in the terminal to install Opencv library:
1. Install opencv development environment:
sudo apt-get install -y libopencv-dev python3-opencv
2. Install some tools:
sudo apt-get install -y python3-pil python3-tk

Run client
Enter the following commands at the terminal.
1. Use the cd command to go to the directory where [Link] is located.
cd ~/Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Client
2. Run [Link]:
sudo python [Link]

The interface is shown below:

The control mode of client on Linux is the same as that of Windows.

If the image is not clear, please check whether the camera protective film is torn off.

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 █ [Link] Chapter 6 Smart video car 107

Trouble shooting

If the car works abnormally, it may be caused by following reasons: raspberry pi system is stuck or
batteries have no power.
You need check batteries power indicator or recharge batteries.
If the batteries are OK, raspberry pi system is stuck. You need wait some time to check if the client works. Or
reopen the server and client.

The latest Raspberry Pi official system is not stable. It occasionally is stuck. The old version is more stable.
If the raspberry pi system is stuck for a long time, you need reboot raspberry pi.
If you have any concerns, please feel free to contact us with pictures:

support@[Link]

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108 Chapter 6 Smart video car [Link] █

Android and iOS app

You can download and install the Freenove Android app from below：
On Google play:
[Link]
On GitHub:
[Link]
In this github repository, you can find the App instruction ([Link]).

You can download and install the Freenove iPhone ios app by searching freenove in app store.

Open the app and select the car.

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 █ [Link] Chapter 6 Smart video car 109

Open the server in Raspberry Pi car first. And enter your Pi IP.

Take photos RGB led

Raspberry Pi IP
mode selection

Set

Pinch object

Connect Open video

Drop object

Control Car moving.

Control the height of the robot arm
Drag the middle dot to
and the opening Angle of the clip
anywhere in the area.

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110 Chapter 6 Smart video car [Link] █

Free innovation

If you have any concerns, please feel free to contact us via support@[Link]

If you want to write your own program to control the car, just follow this section. We will teach you how to
program this car.
If you have never learned python before, you can learn some basic knowledge via the link below:
[Link]
First, turned on S1 and S2. Then open Raspberry Pi, right click and create a new folder on the desktop: Test

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 █ [Link] Chapter 6 Smart video car 111

Open Freenove_Tank_Robot_Kit_for_Raspberry_Pi/Code/Server in your Raspberry Pi and copy the following

5 files into the Test folder we created.

Paste them in Test folder.

Run Thonny Python IDE

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 █ [Link] Chapter 6 Smart video car 113

Click Save and save it into the Test folder, with name: test_Code.

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114 Chapter 6 Smart video car [Link] █

Now you can see the file test_Code.py we created.

Then write code in test_Code.py, then click save.

Note: the code and library are written by Python 3. You need execute the code with python 3.

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 █ [Link] Chapter 6 Smart video car 115

Open the terminal and use the following command to enter the directory where test_Code.py is located:
cd ~/Desktop/Test
Run test_Code.py:
sudo python test_Code.py

Code example

Following are code example for the parts. For more detail, please refer to Module test section.
For more details, please refer to Motor.
1 from Motor import * #import Motor
2 PWM=Motor() #create an object
3 [Link](2000,2000) #Forward
4 print(”The car is moving forward”)
5 [Link](3) #waiting 3 second
[Link](0,0) #Stop

LED. For more details, please refer to LED.

1 from Led import * #import Led
2 led=Led() #create an object
3 [Link](0x04,255,255,0) #yellow
4 [Link](0x80,0,255,0) #green
5 [Link](5) #wait 5s
6 [Link]([Link], Color(0,0,0)) #turn off

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Servo. For more details, please refer to Servo.

1 from servo import * #import Led
2 pwm = Servo() #create an object
3 #Servo rotates from 90 degrees to 150 degrees
4 for i in range(90, 150, 1) :
5 [Link]('0', i)
6 [Link](0.01)
7 #Servo rotates from 140 degrees to 90 degrees
8 for i in range(145, 90, -1) :
9 [Link]('0', i)
10 [Link](0.01)

Ultrasonic module. For more details, please refer to Ultrasonic module.

1 from Ultrasonic import * #import Led
2 ultrasonic=Ultrasonic() #create an object
3 data=ultrasonic.get_distance() #Get the value
4 print ("Obstacle distance is "+str(data)+"CM")

These codes can be integrated into one code to achieve your requirement.

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 █ [Link] What's next? 117

What's next?
Thanks for your reading.

This book is all over here. If you find any mistakes, missions or you have other ideas and questions about
contents of this book or the kit and ect., please feel free to contact us, and we will check and correct it as soon
as possible.

After completing the contents in this book, you can try to reform this smart car, such as purchasing and
installing other Freenove electronic modules, or improving the code to achieve different functions. We will
also try our best to add more new functions and update the code on our github ([Link]

If you want to learn more about Arduino, Raspberry Pi, smart cars, robots and orther interesting products in
science and technology, please continue to focus on our website. We will continue to launch cost-effective,
innovative and exciting products.
[Link]

Thank you again for choosing Freenove products.

Need support?  [Link]