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TEACar

Introduction

TEACAR is a 1/14- to 1/16-scale autonomous racing platform explicitly designed around modularity and hardware abstraction. The platform is intended to support a wide range of experimental configurations. At the mechanical level, the platform adopts a four-layer deck architecture that physically decouples key subsystems, improving mechanical stability while simplifying assembly and component replacement. On the software side, the platform offers a standardized, extensible middleware layer for sensing, communication, and control via the Robot Operating System (ROS) 2 [10]. The hardware ensures safe and reliable system operation with a dedicated power distribution board, designed to support onboard components with varying voltage requirements.

system overview

Project layout

deck        # STL files for 3D printed parts
powerboard  # Manufacturing files for the power board 
software    # ROS2 package for the TEACar

Build Your Car

1️⃣ Purchase Required Components

  • PCA9685 PWM driver board
  • NVIDIA Jetson Orin Development Kit
  • A 1/14- or 1/16-scale RC car chassis
  • Follow the Power Board Guide to order the custom power board and required materials
  • Joystick (recommended: Logitech F710)
  • Camera (optional, for vision-based tasks)

2️⃣ Prepare the Mechanical Structure

  • Follow the Deck Guide to print and assemble the deck components
  • Design and 3D print the interface layer between the deck and your selected RC chassis

3️⃣ Assemble the Hardware

  • Solder and assemble the power board according to the power board documentation
  • Mount the Jetson board, PCA9685 module, and power board onto the deck using appropriate bolts and standoffs
  • Secure the battery and ensure proper cable management
  • Connect components using Dupont cables or appropriate connectors
  • Double-check wiring and verify correct voltage levels before powering on

4️⃣ Install, Power On, and Configure Software

  • Follow the Software Setup Guide to install dependencies and build the project
  • Power on the system
  • Verify that the Jetson boots correctly
  • Confirm that all hardware devices (PWM board, joystick, camera) are detected
  • Configure parameters for your specific chassis and hardware setup

5️⃣ Drive the Car

  • Connect the joystick
  • Launch the control stack
  • Test steering and throttle response
  • Begin manual driving