Yooj yim "Cov Khoom Siv Neeg Hlau" rau Cov Pab Pawg, Cov Xib Fwb Ua Tus Lwm Yam: 18 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:26

Lub tswv yim yog tsim kom muaj me me, tseem nthuav dav, cov khoom siv rau peb cov tswv cuab ntawm "Middle TN Robotic Arts Society". Peb npaj kev cob qhia ib puag ncig cov khoom siv, tshwj xeeb rau kev sib tw, xws li kab hauv qab no thiab kev mus ncig nrawm.

Peb tau suav nrog Arduino Nano vim nws qhov loj me, tseem suav I/O loj. Nrog rau qhov ntxiv ntawm Pawg Neeg Tawm Tsam Tawm Tsam, txhua tus pins tau nkag tau yooj yim thiab Servo-friendly. Peb ditched tus qauv roj teeb thiab xaiv rau 3350mAh Power Bank uas suav nrog USB them cable thiab fais fab LED xwm txheej. USB cable ob npaug raws li cov phiaj xwm cable. Ob Qhov Kev Sib Txuas Txuas Ntxiv rau kev tsav tsheb kom tau txais cov neeg tsim khoom yob sai thiab yooj yim. Lub khob cij me me tso cai rau koj ua qauv sai thiab yooj yim. 3mm Qhov Kab kab puag ncig ntawm pawg thawj coj saib tso cai rau koj ntxiv cov khoom.

Rau peb cov tswv cuab koom nrog peb muag cov khoom AT COST thiab koj yuav tsum koom nrog kom tau txais ib qho. Qhov tseeb peb tab tom poob nyiaj yog tias koj xav txog lub sijhawm nws yuav siv los tsim, tsim cov ntawv qhia, ua ntu (3D luam ntawv, Laser txiav thiab lwm yam) thiab ua nws tag nrho ua ke. Peb tau txais peb cov khoom siv tus nqi qis dua $ 29.99. Koj tuaj yeem tau txais tus nqi qis dua no yog tias koj xaj khoom nrog sijhawm thauj khoom ntev dua. Peb paub tias nws tsis yog cov khoom siv uas pheej yig tshaj plaws nyob rau ntawd, tab sis peb tau hais txog qhov yuav los tom ntej nrog qee yam yooj yim los tsim thiab nthuav dav uas tsis siv sijhawm ntau hnub los ua ke. Qhov tseeb, cov khoom siv no yuav tsum siv sijhawm tsawg dua ib teev kom txav mus los.

Khoom siv

Thawj Yam:

• Arduino Nano Cov
• Roj teeb Lub Hwj Chim
• Neeg Hlau Ncej
• SliderM-F Jumpers
• Ultrasonic Sensor
• Qty 3 - 3mmx10mm 3m Screws nrog Ceev
• Qty 3 - 3mmx3mm spacer
• Qty 2 - Kev Sib Txuas Nruam SF90R Servo
• Qty 2 - Log 52ish mm Log
• Qty 4 - 6 "Zip Ties (Tau txais nyias nyias txog 3.5mm dav) Cov pob ntau yam los ntawm Chaw Thauj Khoom Ua Haujlwm tau zoo.
• Mini Breadboard Cov
• Arduino Nano Shield

Yeem:

Kab qhwv

Cov Cuab Yeej:

• Soldering hlau txhawm rau txhawm rau lub taub hau ntawm Nano
• Phom phom
• Ntsia Hlau yooj yim

Kauj ruam 1: Ncej

Txhawm rau pab kom cov neeg tsim khoom mus nrawm, peb tau kos cov kab ke nrog cov ntawv ntawm txhua sab ntawm tus ncej kom qhia qhov chaw uas yuav tsum tau muab tso rau.

Peb tau muaj hmoo kom tau siv lub tshuab txiav laser. Yog tias koj tsis ua, peb hais kom ncav tes mus rau cov chaw tsim khoom hauv cheeb tsam kom pom tias lawv muaj ib qho uas koj tuaj yeem siv lossis yog tias lawv yuav txaus siab txiav lub thav duab rau koj.

Lub tshuab luam ntawv 3D kuj tseem tuaj yeem siv los luam lub hauv paus. Peb suav nrog SVG thiab STL rau koj siv nrog ib qho.

Peb siv 3mm acrylic rau peb cov khoom siv. Koj tuaj yeem siv lwm yam xov xwm xws li ntoo, duab los qhia, ua npuas ncauj, thiab lwm yam.

Kauj ruam 2: Npaj Arduino

Txhawm rau ua kom yooj yim dua kom txuas cov kab ntawv rau Arduino, ntxig cov txiv neej lub taub hau rau hauv Arduino daim ntaub thaiv. Kab Arduino Nano nrog lub taub hau. Nco tseg cov cim ntawm lub rooj tsavxwm vs daim thaiv npog. Solder tag nrho cov pins thiab koj ua tiav.

Kauj Ruam 3: Mount Arduino Shield

1. Teem 3 qhov sib txawv daj nrog kev txiav ua ntej lossis 3D luam tawm Arduino qhov.
2. Siv M3x10 screws thiab txiv ntseej los txuas rau Arduino daim thaiv. Snug, tsis nruj. Yog tias koj txhawj xeeb txog cov ntsia hlau loosening, tsuas yog ntxiv qhov kov ntawm cov kua nplaum kub mus rau qhov kawg ntawm cov txiv ntoo. Tsis txhob txhawj xeeb txog lub qhov 4 ntawm daim ntaub thaiv, vim nws yuav tsis xav tau thiab cuam tshuam nrog Power Bank tom qab thaum lub sijhawm tsim.

Kauj ruam 4: Mount Servos

1. Nco tseg qhov kev taw qhia ntawm Servo tus qauv ntawm tus ncej. (Tsis pom ntawm 3D luam tawm version tab sis siv cov duab)
2. Xov ob txoj hlua sib txuas hla cov kab sib dhos nrog lub taub hau ntawm Zip Tie nyob rau sab saum toj ntawm tus ncej.
3. Ntxig cov servos thiab khiav cov hlua hlau los ntawm cov kab sib dhos rau sab nraub qaum. Tighten Zip Ties nruj. Yog tias qhov kev pabcuam tsis xav tias muaj kev nyab xeeb, koj tuaj yeem ntxiv cov kua nplaum kub me ntsis ntawm ob sab uas cov servos kov lub thav duab.

Kauj Ruam 5: Lub Hwj Huam Nyiaj Txiag Mount

1. Khiav Zip Tie ntawm Arduino thiab Breadboard qhov chaw nyob hauv kev qhia pom nrog lub taub hau ntawm Zip Tie nyob rau sab saum toj. Khaws xoob.
2. Khiav Zip Tie los ntawm sab nraum qab. Khaws xoob.
3. Xaub hauv Power Bank thiab kaw Zip Ties kom khov. Nco ntsoov txoj kev taw qhia.

Nco tseg: Peb tab tom siv 3D luam "slider" rau pem hauv ntej, pom hauv cov duab. Txawm li cas los xij, peb pom nws tau ua rau muaj kev sib txhuam ntau dhau, yog li koj yuav xav sim nrog lwm lub tswv yim xws li lub raj mis hau, cov rooj tog yas yas glider, thiab lwm yam.

Kauj Ruam 6: Log

Peb siv lub tshuab txiav laser txiav peb lub log tawm ntawm EVA ua npuas ncauj. Koj tuaj yeem siv txhua yam koj nyiam. Hau los ntawm lub rhawv zeb, luam tawm 3D, cov khoom ua si qub log, thiab lwm yam. Sim nrhiav lub log kwv yees li 52mm txoj kab uas hla.

1. Ua kom ntseeg tau tias lub hauv paus ntawm koj lub log muaj qhov qhib tso cai rau lub phillps lub taub hau me me txhawm rau txhawm rau lub tog raj kheej servo.
2. Nruab nrab qhov servo horn suav nrog koj cov servos thiab kua nplaum rau lub log. Ceev faj kom tsis txhob muab kua nplaum rau hauv qhov chaw nruab nrab thiab khaws lub log txawm tias muaj lub tog raj servo los txhawm rau txo qis.
3. Siv lub me me phillips ntsia hlau txuas lub log rau lub servos. Snug tsis nruj.

Kauj Ruam 7: Breadboard

Tev lub thaub qab tawm ntawm daim ntawv qhia zaub mov. Teem nrog kos duab rau sab saum toj ntawm tus ncej thiab txuas. Yog tias siv daim duab 3D luam tawm, siv cov duab plaub ua ntu ntu ntawm cov ntawv luam tawm.

Kauj Ruam 8: Sijhawm Yuav Tsiv

Hlau txuas rau SERVOS kom txav mus los.

1. Txuas cov hlua hlau los ntawm sab laug servo (Servo mus rau sab laug yog tias koj tab tom saib tom qab) rau Pin 10 nrog cov txiv kab ntxwv xaim ze rau Arduino.
2. Txuas cov hlua hlau los ntawm txoj cai servo (Servo rau sab xis yog tias koj saib tom qab) mus rau Pin 11 nrog cov txiv kab ntxwv xaim ze rau Arduino.

Kauj Ruam 9: Ntxiv-Ntxiv: Muab Koj Qhov Pom Pom

Tam sim no peb yuav tsum tau ntxiv qee yam kom tus bot tsis txhob khiav mus rau yam khoom. Siv Ultrasonic sensor. Txuas lub sensor mus rau Breadboard raws li qhia hauv daim duab.

*Siv daim duab kab hluav taws xob txuas ntxiv rau hauv cov lus qhia yuav ua li cas xaim.

Kauj Ruam 10: Ntxiv - On: Cuam Tshuam Tshawb Pom Ntawm IR Sensor

Txhawm rau koj tus bot kom tsis txhob ntog tawm ntawm ntug ntawm lub rooj, thaj chaw thiab lwm yam cia peb ntxiv kab sensor. Peb tab tom siv QTR-MD-06RC Reflectance Sensor Array. Rau tus infrared emitter/ntes pom lub ntsej muag thiab ntsuas qhov deb ntawm qhov rov qab mus rau lub sensor.

Txhawm rau ntxiv lub ntsuas ntsuas lob 4 qhov me me 2mm ntsia hlau, IR sensor sawv ntsug (Smiley Face). Siv cov duab rau kev qhia kom raug.

*Siv daim duab kab hluav taws xob txuas ntxiv rau hauv cov lus qhia yuav ua li cas xaim.

Kauj ruam 11: Programming - Teeb

Rub tawm Arduino Software.

Ua raws li tus txheej txheem qhia.

Thaum koj tau teeb tsa nws, qhib lub software thiab teeb tsa rau Arduino Nano. Qhov no yuav txawv ntawm cov tuam txhab sib txawv tab sis yog tias koj muaj ib qho los ntawm cov npe khoom:

1. Qhib "Cov Cuab Yeej"
2. Xaiv "Arduino Nano" ua hom Board
3. Xaiv Atmega328P (Old Bootloader) ua tus Txheej Txheem
4. Txuas Arduino Nano siv Micro USB cable nrog rau koj lub charger rau ib qho chaw nres nkoj USB ntawm koj lub PC. Yog tias koj tau txais qhov yuam kev zoo li "Unknown Device" koj yuav xav tau teeb tsa cov tsav tsheb raug. Saib Daim Ntawv Ntxiv Ntxiv ntawm cov lus qhia no los pab.

Kauj Ruam 12: Txoj Cai Txheej Txheem rau Ultrasonic Sensor

Cov cai yog qhov yooj yim heev thiab siv ob lub tsev qiv ntawv - Servo.h thiab NewPing.h. Servo.h yog lub tsev qiv ntawv tsim los ntawm Arduino lub hauv paus thiab tau siv los tswj PWM (mem tes dav hloov kho) cov cim rau txhua qhov kev pabcuam. Qhov siv rau lub tsev qiv ntawv no tuaj yeem pom ntawm no:

NewPing.h, raws li tau hais ua ntej, yog lub tsev qiv ntawv thib peb los ntawm Tim Eckel. Nws tau siv los muab peb cov kev sib txuas yooj yim rau hauv lub ntiaj teb ntawm kev ntsuas raws lub sijhawm. Qhov siv rau lub tsev qiv ntawv no tuaj yeem pom ntawm no:

Txog qhov teeb tsa no peb tau tsim qhov yooj yim rau pem hauv ntej, sab laug, sab xis, rov ua piv txwv. Peb xav muab rau peb cov tswv cuab pib qhov uas yuav qhia tau tias yuav siv li cas ob qho tib si lub ntsuas hluav taws xob ultrasonic thiab ob lub tshuab sib hloov txuas mus tas li (ib qho rov qab los ntawm lwm qhov). Hauv peb lub voj, tus neeg hlau ntsuas ua ntej thiab yog tias meej meej txuas ntxiv mus tom ntej. Txawm li cas los xij, yog tias nws hnov tias nws nyob ze thiab kwv yees (lub sijhawm ping luv dua li peb xaiv yam tsawg kawg nkaus), tom qab ntawd nws nres, tig sab laug, tshuaj xyuas, tig sab xis, tshuaj xyuas dua, thiab mus rau hauv qhov kev taw qhia uas qhib ntau dua.

Koj tuaj yeem pom tias txhua ntawm ob qhov kev pabcuam tau muab cov lus txib sib txawv rau tom ntej - qhov no yog vim tias cov servos tau teeb tsa ntawm lub chassis taw tes rau hauv cov lus qhia rov qab. Vim li no, txhua tus servo xav tau txav mus rau hauv cov lus qhia sib txawv rau tus bot kom txav mus tom ntej raws li qhov tsis sib xws hauv lub voj voog. Tib yam muaj tseeb yog tias koj xav txav rov qab.

Qhov piv txwv no qhia txog kev yooj yim yooj yim rau kev zam tab sis tuaj yeem txhim kho tau zoo heev. Piv txwv "ua haujlwm hauv tsev" rau koj tej zaum yuav ua tiav 360 degree cheb thaj tsam ntawm qhov pib thiab xaiv txoj hauv kev qhib tshaj plaws. Luam theej duab dav dua ntawm ib sab mus rau ib sab thiab pom tias tus bot tau txais "boxed in". Ua ke nrog lwm cov ntsuas kom daws qhov tshawb nrhiav.

Kauj Ruam 13: Txoj Cai Txheej Txheem rau Kab Tom Qab Siv SUMO Code

Yuav los sai sai

Kauj Ruam 14: Programming - Tsev Qiv Ntawv

Pib los ntawm kev ua kom ntseeg tau tias koj muaj lub tsev qiv ntawv raug teeb tsa.

Txog rau Servos lub tsev qiv ntawv Servo.h yuav tsum yog lub neej ntawd.

Rau Ultrasonic Sensor HC-SR04:

1. Hauv software mus rau Sketch> suav nrog Tsev Qiv Ntawv> Tswj Tsev Qiv Ntawv.
2. Tshawb nrhiav "NewPing" los ntawm Tim Eckel.
3. Xaiv qhov tseeb version thiab nruab.

Rau QTR-MD-06RC Reflectance Sensor Array:

1. Hauv software mus rau Sketch> suav nrog Tsev Qiv Ntawv> Tswj Tsev Qiv Ntawv.
2. Tshawb nrhiav "QTRSensors" los ntawm Pololu.
3. Xaiv qhov tseeb version thiab nruab.

Kauj Ruam 15: Txoj Haujlwm

1. Rau tsuas yog Ping Sensor rub tawm MTRAS_Kit_Ping_Sensor_1_18_20.ino file.
2. Rau Kab Sensor nrog Ping Sensor programmed rau SUMO rub tawm MTRAS_Kit_Sumo_1_18_2020.ino file.
3. Txuas koj Arduino ntawm USB.
4. Xaiv qhov chaw nres nkoj COM (Saib daim duab). Koj qhov chaw nres nkoj COM yuav txawv.
5. Nyem rau ntawm lub cim kos kom paub tseeb tias tsis muaj qhov yuam kev.
6. Yog tias txhua yam raug txheeb xyuas nyem rau ntawm sab xis kom rub qhov program mus rau Arduino.
7. Thaum ua tiav tshem tawm USB cable thiab ntsaws rau hauv Power Bank.

Kauj Ruam 16: Daim Kab Xaim

Siv cov duab hauv qab no los xaim koj tus neeg hlau.

• Rau Ultrasonic sensor siv m-f jumper xov hlau.
• Rau txoj kab ntsuas siv m-m jumper xov hlau.
• Txog rau Servos koj tuaj yeem ntsaws 3 tus pin txuas ncaj qha rau tus pin.

Kauj Ruam 17: Zoo siab !!! Koj Ua Tus Neeg Hlau

Txog rau Ultrasonic code tus neeg hlau yuav tsum pib txav mus los. Thaum twg nws hnov cov khoom nyob hauv 35cm nws yuav tsum nres, txav mus rau sab laug thiab ntsuas nrawm, tom qab ntawd txav mus rau sab xis thiab ua tib yam. Nws txiav txim siab tias sab twg yog qhov siab tshaj plaws nyob deb thiab txav mus rau qhov ntawd.