Our communication framework is made up of a package of Python, Twisted Python, and C++ applications that enable the Pi Car to accomplish three main goals:

(1) Send position data captured from infrared motion capture camera system to Pi Car over WiFi;

(2) Interface Raspberry Pi with hardware on Pi Car and retrieve sensory data (position, velocity, acceleration);

(3) Aggregate data inputs using a scheduler program and deliver to an external application.


The communication programs that we have created can be found in our Pi Car GitHub along with a Wiki of how to use them.