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Not mine, but I got permission from the creator to post it here on Reddit.
Blog post: https://littlemountainman.github.io/2019/11/27/selfdrivingfun/
GitHub: https://github.com/littlemountainman/selfdrive
Twitter: https://twitter.com/littlemtman/status/1196093540092272643
submitted by /u/stormtrooper1721
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