Odometry Module, hauv Kev Koom Tes Nrog JLCPCB: 4 Cov Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:24

Dab neeg

Robotech Nancy yog Fab Kis txoj haujlwm nyob hauv Polytech Nancy, lub tsev kawm ntawv engineering nyob rau sab hnub tuaj Fabkis. Nws suav nrog 16 tus tub ntxhais kawm, lub hom phiaj los sib tw ntawm 2020 Fab Kis Fab Kis ntawm Robotic. Hmoov tsis zoo, yav tom ntej ntawm kev sib tw tsis paub meej vim tseem muaj covid-19 thoob ntiaj teb txuas ntxiv mus. Tseem, txoj haujlwm txuas ntxiv mus rau nws lub hom phiaj thib ob: qhia dab tsi Polytech Nancy muaj peev xwm tsim tau los ua lub tsev kawm engineering, tshwm sim thaum muaj teeb meem zoo li no. Tam sim no txhua tus tub ntxhais kawm tau ua haujlwm nyob deb ntawm tsev, nyob deb ntawm kev teeb tsa kev teeb tsa ntawm lub tsev kawm ntawv, uas ua rau JLCPCB qhov kev pab tau zoo dua.

Khoom siv:

Qhov siv hauv txoj haujlwm no: Tus Qauv, Tus Nqi, Pob, Mid X, Mid Y, Kev sib hloov, txheej C1, 22pF, C_0402_1005Metric, 14.732000, 7.874000, 180.000000, saum C2, 22pF, C_0402_1005Metric, 10.264000, 13.081000, 0.000000, saum C3, 10nF C_0402_1005Metric, -13.919200, -1.676400, 180.000000, saum C4, 4.7uF, C_0402_1005Metric, -13.919200, -0.533400, 180.000000, saum C5, 4.7uF, C_0402_1005Metric, 11.430000, 7.874000, 180.000000, 18.000000, 18.000000, 18.000000, 18.000000, 18.000000, 18.000000, 18.000000, 18.000000, 18.000000, 0.000000, sab saum toj C7, 10nF, C_0402_1005Metric, -3.810000, -10.541000, 270.000000, saum C8, 10nF, C_0402_1005Metric, 16.129000, -4.087000, 270.000000, sab saum toj C9, 10nF, C_0402_1005.0000, 10.0000,00,, C_0402_1005Metric, -13.970000, 1.727200, 180.000000, saum C11, 10nF, C_0402_1005Metric, 3.810000, -1.270000, 0.000000, saum C12, 10nF, C_0402_1005Metric, 2.032000, -4.318000, 0.000000, saum C13, 0.1 10.160000, 0.000000, saum C14, 1uF, C_0805_2012Metric, -4.699000, -13.0810 00, 0.000000, sab saum toj C15, 10nF, C_0402_1005Metric, -13.970000, 0.584200, 180.000000, sab saum toj C16, 10nF, C_0402_1005Metric, -0.762000, -3.683000, 270.000000, saum C17, 10nF, C_0402_1005Metric, 0.000000,, C_0402_1005Metric, 0.254000, -3.683000, 270.000000, sab saum toj C19, 4.7uF, C_0402_1005Metric, -6.096000, -4.826000, 0.000000, sab saum toj D1, LED, LED_0603_1608Metric, 12.700000, -7.772500, 90.0000, 90.0000, 7.772500, 90.000000, saum D3, B5819W, D_SOD -123, -10.541000, -13.081000, 180.000000, saum D4, LED, LED_0805_2012Metric, 0.000000, -20.000000, 0.000000, saum D5, LED, LED_0805_2012Metric, 10.000000, 17.00, D6, LED, LED_0805_2012Metric, 17.000000, -10.000000, 60.000000, sab saum toj D7, LED, LED_0805_2012Metric, 20.000000, 0.000000, 90.000000, saum D8, LED, LED_0805_2012Metric, 17.000000, 10.000000, 120.000000, saum D9, LED, LED0080.00_ 150.000000, sab saum toj D10, LED, LED_0805_2012Metric, 0.000000, 20.00 0000, 180.000000, saum D11, LED, LED_0805_2012Metric, -10.000000, 17.000000, 210.000000, saum D12, LED, LED_0805_2012Metric, -17.000000, 10.000000, 240.000000, saum D13, LED, LED_0805_2012Metric, -20.000000, 0.000000, 270.000000,, LED_0805_2012Metric, -17.272000, -10.414000, 300.000000, sab saum toj D15, LED, LED_0805_2012Metric, -10.000000, -17.000000, 330.000000, saum L1, LQH32CN100K33L, L_1210_3225Metric, -11.303000, -7.000000, -7.000000 -4.699000, -16.002000, 0.000000, sab saum toj R1, 100, R_0603_1608Metric, 12.700000, -4.673500, 270.000000, sab saum toj R2, 100, R_0603_1608Metric, 11.049000, -4.673500, 270.000000, saum R3, 10k, R_0402.0000.100, 000_01., sab saum toj R4, 220k, R_0402_1005Metric, -8.382000, -11.176000, 180.000000, saum R5, 100, R_0603_1608Metric, -4.699000, -18.669000, 180.000000, saum R6, 10k, R_0402_1005Metric, -1.143000, -16.38320, 270.00, R_0402_1005Metric, -2.286000, -16.383000, 270.000000, saum R8, 2.2k, R_0402_1005Me tric, 3.238500, 3.619500, 270.000000, sab saum toj R9, 2.2k, R_0402_1005Metric, 2.095500, 3.642500, 270.000000, top U1, STM32F103C8Tx, LQFP-48_7x7mm_P0.5mm, 13.462000, 2.159000, 2.159000, 180, 22 3_TabPin2, -8.457800, 1.219200, 180, saum U3, TCAN337, SOIC -8_3.9x4.9mm_P1.27mm, 2.032000, -8.636000, 270.000000, saum U4, AD5160, SOT -23-8, -3.683000, -7.493000, 90.000000, sab saum toj U5, MPU6050, QFN-24-1EP_4x4mm_P0.5mm_EP2.6x2.6mm, 0.000000, 0.000000, 270, saum U6, TPS61041DBV, SOT-23-5, -7.583000, -7.518000, 270.000000, saum Y1, Crystal_GND24, Crystal_SMD32.2x2.5mm, 11.938000, 10.795000, 180.000000, sab saum toj

Kauj ruam 1: Neeg Hlau

Xyoo 2020 Fab Kis Fab Kis ntawm Neeg Hlau yog lub sijhawm sib tw uas ob pab pawg sib tw ntawm pawg uas hloov pauv txhua xyoo. Cov teeb tsa xyoo 2020 yog cov tub sab nyiag thiab cov neeg hlau tau tso rau ntawm qhov chaw zoo li puam, uas lawv yuav tsum tau txheeb thiab xa cov pawn sib txawv rau thaj chaw tshwj xeeb ntawm daim duab qhia chaw.

Tus qauv peb pom tau siv los pab tus neeg hlau nkag siab qhov nws nyob ntawm teeb.

Cov kev ntsuas no hu ua "odometry".

Kauj ruam 2: Circuit Court:

Nthuav lwm cov khoom siv, kom ua tiav qhov kev ntsuas odometry txaus, peb muaj:

- STM32 ib

- Tsheb npav I2C txhawm rau txuas lub sijhawm ntawm lub dav hlau ntsuas kom tsis txhob muaj kev sib tsoo

- MPU6050 (3 axis gyroscope thiab 3 axis accelerometer) kuj txuas nrog STM32 ntawm I2C npav.

- PMW3901 lub ntsuas qhov muag, zoo ib yam li koj pom hauv qab lub computer nas.

Kauj Ruam 3: Txoj Cai Ua Haujlwm:

Cov cai rau tag nrho cov qauv ntsuas qhov ntsuas loj heev, thiab tshwj xeeb rau txhua tus neeg sib tw, uas txhais tau tias leej twg muaj qhov zoo tshaj plaws tau txais txiaj ntsig zoo thaum lub sijhawm sib tw. Vim yog ob qho laj thawj no, peb yuav qhia ib feem ntawm txoj cai.

Thawj daim duab yog qhov pib ntawm MPU6050 (gyroscope thiab accelerometer). Raws li nws yog qhov tseem ceeb rau kev pib ua haujlwm tau zoo, STM32 ua 500 qhov ntsuas ntawm txhua lub axis ntawm lub gyroscope los txiav txim siab 0 kev ua haujlwm. Xws li, peb muaj qhov tseeb dua.

Qhov thib ob yog kev pib ua haujlwm ntawm lub tshuab ntsuas qhov muag. Nws yog tsim los siv cov ntaub ntawv tsim khoom.

Ntawm peb "tus lej zais" peb suav nrog tus nqi rov qab los ntawm lub gyroscope kom tau txais txoj haujlwm tseeb.

Kauj Ruam 4: Ua Pawg Thawj Coj:

Oncethe ib feem tau txhais thiab cov cai tau sau, peb lub tuam txhab hluav taws xob tau xa lawv cov haujlwm rau peb lub tuam tsev tsim khoom. Lawv tsim lub rooj tsavxwm siv Gerber. Thaum txhua yam tau teeb tsa ua ke, peb tsuas yog yuav tsum muab nws tso rau hauv JLCPCB lub vev xaib kom nws tau ua kev cai.

Tom qab plaub hnub ntawm kev xa khoom, pob tuaj txog.

Txhawm rau xaus, peb xav ua tsaug ntau rau JLCPCB uas pab peb ntau thaum lub sijhawm nyuaj. Lawv ua qhov kev sib tham yooj yim heev thiab pab peb ua PCB no tsis muaj sijhawm.