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HARDWARE / SENSORS
THE SENSOR SUITE.
The scanner sees the room, the camera sees colour, the IMU knows which way is up, and the encoders count exactly how far the wheels turned. Between them, you have everything a basic racing stack needs.
Sim ↔ car parity on all four
LiDAR
30 Hz · ~1440 samples · 270° window
Planar laser scanner on top of the car. The primary depth source for wall follow, gap follower, and mapping.
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Camera
640×480 · 60 fps · USB
RGB camera at the front of the car. Drives lane keeping, sign recognition, and any RL pipeline that takes images as state.
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IMU
6-DOF · 200 Hz · MCU (microcontroller unit) fused
Accelerometer + gyro on a dedicated microcontroller. Used for orientation, tilt, and dead-reckoning between LiDAR scans.
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Encoder
Hall effect · motor shaft · MCU read
A motor-shaft encoder the MCU integrates into a clean velocity estimate published on /odom.
Read the reference →