Our goals for this semester were to turn our proof-of-concept car and turn it into something a little more deserving of the title, “Racecar,” as well as taking care of a few other minor upgrades that we decided were necessary. This included but, was not limited to:

• Upgrading from a Raspberry Pi 4 to a Pi 5
• Altering the navigation parameters to handle higher velocities
• Tuning the motors PID controller accordingly
• Running the navigation software locally on the Pi instead of over WiFi
• Implementing ultrasonic sensors to help detect glass and any obstacles below the LiDAR
• Remodeling the hardware enclosure to give it a more aesthetic look

So far, we have succesfully transfered over our python scripts from the old Pi to the new one and were able to read the odometry data, run the navigation software on the Pi, and designed a new enclosure with a much better look than the previous box. We are currently working on implementing the ultrasonic sensors into our racecar specifically, how they are going to be mounted and how the navigation software will interpret their data.