Milestone 1 Complete

This is an update on the self driving car project. Milestone 1 has been completed.

Parts:
1 - Raspberry Pi Camera V2
2 - DF055B Servo with Pan Bracket
3 - USB Micro Battery Bank
4 - Raspberry Pi 3 Model B
5 - L289n Motor Driver
6 - 6xAA Battery Pack
7 - Arduino Nano
8 - 4xAA Battery Pack

4 Wheel Car kit Chassis from some Chinese distributor
(cheap but gets the job done, soon I will upgrade to an RC car with better motors, chassis and steering)

Power
At the moment I am using separate power supplies to avoid any additional power circuitry for now.
The 6xAA Battery Pack provides the 9V to the 4 motors
The 4xAA Battery Pack provides 6V to the servo motor
Finally the USB Micro Battery Bank is used for the raspberry pi.

Control
The Raspberry Pi is the main brain of the whole system which is running the control scripts to control everything and to interface with a controller.
The arduino nano is dedicated to servo control (due to real time PWM) which is controlled via serial commands from the Pi.
The controller is connected via bluetooth directly to the Pi.

Stream
Camera feed is streamed using netcat and named pipes. Essentially netcat is a udp/tcp transport program which encoded H.264 is sent over to the PC from the raspberry pi and then decoded on the PC. This allows for the use of Open CV and further machine learning on my GPU since the Pi doesn't have enough processing power. Even though there is latency due to streaming, this is still faster than allowing the Pi to process everything.