Cov txheej txheem:
- Khoom siv
- Kauj Ruam 1: Kuv Thawj Qhov Kev Paub
- Kauj Ruam 2: Cov Lus Qhia Txog Piecing thiab Debugging Lub Cev Lub Cev
- Kauj Ruam 3: Tus Tswj Arduino
- Kauj Ruam 4: MPU-6050
- Kauj Ruam 5: HC-05 Bluetooth Module
- Kauj Ruam 6: Txuas Qhov Chaw
- Kauj Ruam 7: Kev Zoo Nkauj ntawm RemoteXY
- Kauj Ruam 8: Xeem
- Kauj Ruam 9: Kuv Ua Haujlwm ntawm Txoj Cai. Yuav Ua tiav Cov Lus Qhia hauv Ob peb Hnub
Video: Phau Ntawv Qhia Kuv Xav Kuv Muaj Tsim Tsev Arduino Drone: 9 Kauj Ruam
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:26
Nov yog cov ntaub ntawv yog hom "Yuav ua li cas qhia" slash cov ntaub ntawv uas dhau los ntawm txheej txheem nws coj kuv nkag siab cov ntsiab lus kom ua tiav kuv lub hom phiaj ntawm kev tsim lub quadcopter yooj yim uas kuv tuaj yeem tswj tau los ntawm kuv lub xov tooj ntawm tes.
Txhawm rau ua txoj haujlwm no kuv xav kom tau txais lub tswv yim ntawm qhov drone ua tau yog dab tsi, hauv kuv qhov xwm txheej quadcopter, yog li kuv pib ua qee qhov kev tshawb fawb. Kuv tau saib ntau ntawm YouTube cov vis dis aus, nyeem kab lus ntawm kab lus thiab nplooj ntawv tsis nkag siab thiab qhov no yog qhov kuv tau txais.
Qhov tseem ceeb koj tuaj yeem faib lub drone ua ob ntu. Kuv hu nws ua "Lub Cev" thiab "Tus Tswj". Lub Cev yog qhov tseem ceeb txhua yam uas yuav tsum tau ua nrog cov kws kho tshuab uas ua rau lub drone ya. Cov no yog yam zoo li lub cev muaj zog, tus ncej, lub roj teeb, lub cav thiab txhua yam uas lub cev ua rau lub drone muaj peev xwm ya tau.
Tus Tswj Tus Kheej yog tus tswj lub davhlau. Dab tsi tswj lub cev kom lub drone tuaj yeem ya tau raws li chav nyob yam tsis poob. Qhov tseem ceeb ntawm microcontroller, software ntawm nws thiab cov ntsuas uas pab nws ua peb sab nws cov kabmob. Yog li txhua qhov kom muaj lub drone, Kuv xav tau Tus Tswj, thiab ib pawg ntawm lub cev rau tus tswj kom 'tswj'.
Khoom siv
Cov peev nyiaj rau qhov project: $ 250
Lub Sijhawm Teev Taw: 2 lub lis piam
Yam Yuav Tau:
- Lub cev $ 20
- Hniav $ 0 (Los nrog thav duab)
- Roj teeb Pob $ 25
- ESC (Cov tswj hluav taws xob ceev) $ 0 (Los nrog lub cav)
- Cov motors $ 70
Davhlau Tswj
- Arduino nano $ 20
- Arduino USB Cable $ 2
- Bluetooth Module (HC-05) $ 8
- 3mm LED thiab 330 Ohm resistors thiab xov hlau $ 13
- GY-87 (Accelerometer, Gyroscope) $ 5
- Prototype Board $ 10
- Txiv neej thiab Poj niam headers $ 5
Lwm yam
- Cov khoom siv Soldering $ 10
- Multimeter $ 20
Kuv xav kom txaus siab tsim lub phiaj xwm no ua Tus Kws Tshaj Lij, yog li kuv yuav qee yam khoom uas kuv tsis tas yuav.
Tag nrho: $ 208
Kauj Ruam 1: Kuv Thawj Qhov Kev Paub
Tom qab yuav tag nrho kuv cov khoom, kuv muab tso ua ke thiab tom qab ntawd sim tso lub drone, siv Multiwii (mus rau software uas ntau ntawm DIY drone zej zog siv), txawm li cas los kuv tau pom sai sai tias kuv tsis nkag siab dab tsi tau ua vim tias muaj ntau qhov yuam kev thiab kuv tsis muaj lub tswv yim yuav kho lawv li cas.
Tom qab ntawd kuv txiav txim siab nqa lub drone sib nrug thiab nkag siab txhua feem ntawm ib qho thiab rov tsim kho nws hauv txoj kev uas kuv yuav nkag siab txhua yam uas tau ua mus.
Hauv kab lus hauv qab no kuv yuav mus dhau cov txheej txheem ntawm kev sib dhos cov duab sib dhos ua ke. Ua ntej ntawd cia peb tau txais cov ntsiab lus nrawm.
Lub cev
Txog lub cev, peb yuav tsum muaj: thav duab, tus kiv cua, lub roj teeb thiab cov esc. Cov no yuav yog qhov yooj yim haum ua ke. Txhawm rau nkag siab cov ntu no thiab yam twg koj yuav tsum tau txais koj tuaj yeem mus ntsib qhov txuas no. Nws piav qhia yam koj xav paub txog kev yuav khoom txhua qhov uas kuv tau teev tseg. Kuj saib qhov yees duab Youtube no. Nws yuav pab koj yog tias koj tau daig cov khoom ua ke.
Kauj Ruam 2: Cov Lus Qhia Txog Piecing thiab Debugging Lub Cev Lub Cev
Propellers thiab Motors
- Txhawm rau txheeb xyuas yog tias koj lub kiv cua nyob hauv txoj kev qhia kom raug (Tig los yog tsis), thaum koj tig lawv hauv qhov kev taw qhia los ntawm lub cav (feem ntau lub cav muaj cov xub qhia tias lawv yuav tsum tig li cas), koj yuav tsum hnov cua nyob hauv qab cov kiv cua thiab tsis saum toj no.
- Cov ntsia hlau ntawm cov kiv cua sib txawv yuav tsum yog xim tib yam.
- Cov xim ntawm cov kiv cua uas nyob ib sab yuav tsum zoo ib yam.
- Tsis tas li nco ntsoov tias koj tau teeb tsa lub cav hauv txoj kev uas lawv tig ib yam li hauv daim duab saum toj no.
- Yog tias koj tab tom sim tig qhov kev taw qhia ntawm lub cav tsuas yog sib pauv xov hlau ntawm qhov tsis sib xws. Qhov no yuav thim qhov kev taw qhia ntawm lub cav.
Roj teeb thiab Fais Fab
- Yog tias yog vim li cas txhua yam tshwm sim thiab koj tsis tuaj yeem txiav txim siab yog vim li cas, feem ntau yuav yog vim koj muaj qhov zoo thiab tsis zoo pauv.
- Yog tias koj tsis paub meej tias yuav them koj lub roj teeb thaum twg, koj tuaj yeem siv lub voltmeter los tshuaj xyuas qhov hluav taws xob. Yog tias nws qis dua qhov tshwj xeeb ntawm lub roj teeb hais, tom qab ntawd nws yuav tsum tau them. Txheeb tawm qhov txuas no ntawm kev them koj lub roj teeb.
- Feem ntau cov roj teeb LIPO tsis tuaj nrog lub roj teeb them. Koj yuav lawv cais.
Kauj Ruam 3: Tus Tswj Arduino
Qhov no tsis muaj qhov tsis ntseeg qhov nyuaj tshaj plaws ntawm txoj haujlwm no. Nws yooj yim heev rau tshuab cov khoom sib dhos thiab debugging tuaj yeem ua rau muaj kev ntxhov siab heev yog tias koj tsis paub tias koj tab tom ua dab tsi. Tsis tas li hauv qhov haujlwm no kuv tswj kuv lub drone siv bluetooth thiab ib qho app uas kuv yuav qhia koj yuav tsim li cas. Qhov no ua rau txoj haujlwm tshwj xeeb nyuaj dua vim tias 99% ntawm cov kev qhia tawm siv xov tooj cua tswj hwm (qhov no tsis yog qhov tseeb lol), tab sis tsis txhob txhawj kuv tau dhau los ntawm kev ntxhov siab rau koj.
Cov lus qhia ua ntej koj pib ntawm txoj kev taug no
- Siv lub khob cij ua ntej koj ua tiav koj lub cuab yeej ntawm PCB. Qhov no cia koj hloov pauv yooj yim.
- Yog tias koj tau sim tshuaj tiv thaiv ib ntus thiab nws tsis ua haujlwm, tej zaum nws yuav tsis ua haujlwm!
-
Saib ntawm qhov ntsuas hluav taws xob uas lub cuab yeej tuaj yeem tswj ua ntej koj ntsaws nws!
- Arduino tuaj yeem tswj tau 6 txog 20V, tab sis sim ua lub hau ntawm 12V kom koj tsis txhob tawg nws. Koj tuaj yeem nyeem ntxiv txog nws qhov tshwj xeeb ntawm no.
- HC-05 tuaj yeem tswj tau txog 5V tab sis qee tus pin ua haujlwm ntawm 3.3V yog li saib xyuas qhov ntawd. Peb mam tham txog nws tom qab.
- IMU (GY-521, MPU-6050) kuj ua haujlwm ntawm 5V.
- Peb yuav siv RemoteXY los tsim peb lub app. Yog tias koj xav tsim nws ntawm lub cuab yeej iOS koj yuav tsum siv qhov sib txawv bluetooth module (HM-10). Koj tuaj yeem kawm paub ntau ntxiv txog qhov no ntawm RemoteXY lub vev xaib.
Vam tias koj tau nyeem cov lus qhia. Tam sim no cia peb sim txhua feem uas yuav yog ib feem ntawm tus tswj hwm cais.
Kauj Ruam 4: MPU-6050
Cov cuab yeej no muaj lub ntsuas hluav taws xob thiab lub ntsuas hluav taws xob, yog li qhov tseem ceeb nws qhia koj txog kev nrawm nrawm (X, Y, Z) thiab nrawm nrawm raws cov lus qhia no.
Txhawm rau ntsuas qhov no, peb tuaj yeem siv cov lus qhia ntawm no peb tuaj yeem siv cov lus qhia no ntawm Arduino lub vev xaib. Yog tias nws ua haujlwm, koj yuav tsum tau txais cov kwj deg ntawm qhov ntsuas thiab ntsuas qhov ntsuas qhov ntsuas uas hloov pauv thaum koj qaij, tig thiab ua kom nrawm dua qhov teeb tsa. Tsis tas li, sim tweak thiab tswj cov cai kom koj paub tias muaj dab tsi tshwm sim.
Kauj Ruam 5: HC-05 Bluetooth Module
Koj tsis tas yuav ua ntu no tab sis nws yog qhov tseem ceeb kom tuaj yeem mus rau AT hom (teeb tsa hom) raws li koj yuav zoo li yuav hloov pauv ib qho ntawm kev teeb tsa ntawm tus qauv. Nov yog ib qho ntawm qhov kev chim siab tshaj plaws txog txoj haujlwm no. Kuv tau tshawb fawb ntau heev kom paub yuav ua li cas thiaj li tau txais kuv tus qauv rau hauv AT hom, vim tias kuv lub cuab yeej tsis teb rau kuv cov lus txib. Nws coj kuv 2 hnub los xaus qhov kuv tus qauv tau tawg. Kuv xaj rau lwm tus thiab nws ua haujlwm. Txheeb tawm qhov kev qhia no ntawm kev nkag mus rau AT hom.
HC-05 los hauv ntau yam sib txawv, muaj qee qhov nrog cov nyees khawm thiab qee yam tsis muaj thiab txhua yam kev hloov pauv tsim. Ib qhov no uas tas li tab sis yog tias lawv txhua tus muaj "Pin 34". Txheeb tawm qhov kev qhia no.
Yam uas koj yuav tsum paub
- Txhawm rau nkag mus rau AT hom, tsuas yog tuav 5V rau tus pin 34 ntawm bluetooth module ua ntej koj txuas lub zog rau nws.
- Txuas lub peev xwm faib rau RX tus pin ntawm tus qauv raws li nws ua haujlwm ntawm 3.3V. Koj tseem tuaj yeem siv nws ntawm 5V tab sis nws tuaj yeem kib tus pin yog tias muaj qee yam tsis raug.
- Yog tias koj siv tus Pin 34 (tsis yog khawm lossis qee txoj hauv kev uas koj pom hauv online), tus qauv yuav teeb tsa bluetooth tus nqi baud rau 38400. Tias yog vim li cas hauv kab ntawv txuas rau cov lus qhia saum toj no muaj kab hauv kab lus uas hais tias:
BTSerial.begin (38400); // HC-05 lub hauv paus ceev hauv AT cov lus txib ntau dua
Yog tias tus qauv tseem tsis teb nrog "OK", sim hloov tx thiab rx pins. Nws yuav tsum yog:
Bluetooth => Arduino
RXD = TX1
TXX => RX0
Yog tias tseem tsis ua haujlwm, xaiv hloov cov pins hauv cov cai rau lwm tus Arduino pins. Kuaj, yog tias nws tsis ua haujlwm sib pauv tx thiab rx pins, tom qab ntawv sim dua
SoftwareSerial BTSerial (10, 11); // RX | UA TX
Hloov kab saum toj no. Koj tuaj yeem sim RX = 2, TX = 3 lossis lwm yam kev sib txuas ua ke siv tau. Koj tuaj yeem saib tus lej Arduino tus lej hauv daim duab saum toj no.
Kauj Ruam 6: Txuas Qhov Chaw
Tam sim no peb paub tseeb tias txhua yam ua haujlwm, nws yog lub sijhawm los pib tso lawv ua ke. Koj tuaj yeem txuas cov ntu ib yam li qhia hauv kab lus. Kuv tau txais qhov ntawd los ntawm Electronoobs. Nws yeej pab kuv nrog txoj haujlwm no. Txheeb tawm nws cov ntawv ntawm qhov haujlwm ntawm no. Yog tias koj ua raws cov lus qhia no, koj tsis tas yuav txhawj xeeb txog qhov tau txais kev sib txuas: input_Yaw, input_Pitch, thiab lwm yam. Txhua yam uas yuav daws nrog bluetooth. Tsis tas li, txuas lub bluetooth txoj kev uas peb tau ua hauv ntu dhau los. Kuv tus tx thiab rx pins tau ua rau kuv muaj teeb meem me ntsis, yog li kuv siv Arduino's:
RX li 2, thiab TX ua 3, tsis txhob siv tus pin qub. Tom ntej no, peb yuav sau cov app yooj yim uas peb yuav txuas ntxiv txhim kho kom txog thaum peb muaj cov khoom kawg.
Kauj Ruam 7: Kev Zoo Nkauj ntawm RemoteXY
Rau lub sijhawm ntev tshaj plaws kuv tau xav txog txoj hauv kev yooj yim los tsim qhov siv tau Cov Chaw Taws Teeb uas yuav cia kuv tswj lub drone. Cov neeg feem coob siv MIT App Inventor, tab sis UI tsis zoo nkauj li kuv xav thiab kuv kuj tsis yog tus kiv cua ntawm cov duab kos duab. Kuv tuaj yeem tsim nws siv Android Studio tab sis qhov ntawd tsuas yog ua haujlwm ntau dhau. Kuv zoo siab heev thaum kuv pom kev qhia siv RemoteXY. Nov yog qhov txuas mus rau lub vev xaib. Nws yooj yim heev rau siv thiab cov ntaub ntawv zoo heev. Peb yuav tsim UI yooj yim rau peb cov drone. Koj tuaj yeem hloov kho koj li koj nyiam. Tsuas yog xyuas kom koj paub tias koj tab tom ua dab tsi. Ua raws li cov lus qhia ntawm no.
Thaum koj tau ua tiav lawm peb yuav kho qhov chaws kom peb tuaj yeem hloov lub qhov rooj ntawm peb tus tub luam. Ntxiv cov kab uas muaj / **** Cov khoom koj yuav tsum ua thiab yog vim li cas *** / rau koj cov cai.
Yog tias nws tsis suav ua kom ntseeg tau tias koj tau rub lub tsev qiv ntawv rub tawm. Tsis tas li qhib qhov piv txwv kos duab thiab piv qhov nws muaj uas koj tsis ua.
////////////////////////////////////////////// RemoteXY suav nrog lub tsev qiv ntawv // ///////////////////////////////////////////////
// RemoteXY xaiv hom kev sib txuas thiab suav nrog tsev qiv ntawv
#define REMOTEXY_MODE_HC05_SOFTSERIAL
#include #include #include
// RemoteXY kev teeb tsa kev sib txuas
#define REMOTEXY_SERIAL_RX 2 #define REMOTEXY_SERIAL_TX 3 #define REMOTEXY_SERIAL_SPEED 9600
// Cov kiv cua
Servo L_F_prop; Servo L_B_prop; Servo R_F_prop; Servo R_B_prop;
// RemoteXY teeb tsa
#pragma pob (thawb, 1) uint8_t RemoteXY_CONF = {255, 3, 0, 0, 0, 61, 0, 8, 13, 0, 5, 0, 49, 15, 43, 43, 2, 26, 31, 4, 0, 12, 11, 8, 47, 2, 26, 129, 0, 11, 8, 11, 3, 17, 84, 104, 114, 111, 116, 108, 101, 0, 129, 0, 66, 10, 7, 3, 17, 80, 105, 116, 99, 104, 0, 129, 0, 41, 34, 6, 3, 17, 82, 111, 108, 108, 0}; // tus qauv no piav qhia txhua qhov kev hloov pauv ntawm koj kev tswj hwm tus qauv {
// input hloov tau
int8_t Joystick_x; // -100..100 x -coordinate txoj hauj lwm joystick int8_t Joystick_y; // -100..100 y -coordinate txoj hauj lwm joystick int8_t ThrottleSlider; // 0..100 txoj haujlwm swb
// lwm yam sib txawv
uint8_t txuas_flag; // = 1 yog xaim txuas, lwm = 0
} RemoteXY;
#pragma pob (pop)
/////////////////////////////////////////////
// END RemoteXY suav nrog // /////////////////////////////////////////// /
/********** Ntxiv kab no los tuav tus tuav qhov muag **************/
int input_THROTTLE;
void teeb tsa () {
RemoteXY_Init ();
/********** Txuas cov motors rau Pins Hloov qhov txiaj ntsig kom haum koj li **************/
L_F_prop.attach (4); // sab laug lub cev muaj zog
L_B_prop.attach (5); // sab laug nraub qaum R_F_prop.attach (7); // txoj cai lub cev muaj zog R_B_prop.attach (6); // txoj cai rov qab lub cev muaj zog
/************* Tiv thaiv esc los ntawm kev nkag mus rau hom kev ua haujlwm ********************/
L_F_prop.writeMicroseconds (1000); L_B_prop.writeMicroseconds (1000); R_F_prop.writeMicroseconds (1000); R_B_prop.writeMicroseconds (1000); ncua (1000);
}
void voj () {
RemoteXY_Handler ();
/****** Daim ntawv qhia qhov ntsuas tus nqi koj tau txais los ntawm app rau 1000 thiab 2000 uas yog qhov tseem ceeb tshaj plaws ESCs ua haujlwm ntawm *********/
input_THROTTLE = daim ntawv qhia (RemoteXY. ThrottleSlider, 0, 100, 1000, 2000);
L_F_prop.writeMicroseconds (input_THROTTLE);
L_B_prop.writeMicroseconds (input_THROTTLE); R_F_prop.writeMicroseconds (input_THROTTLE); R_B_prop.writeMicroseconds (input_THROTTLE); }
Kauj Ruam 8: Xeem
Yog tias koj tau ua txhua yam raug, koj yuav tsum muaj peev xwm ntsuas koj lub copter los ntawm kev swb lub qhov rooj nce thiab nqis. Xyuas kom koj ua qhov no sab nraum. Tsis tas li tsis txhob cia cov kiv cua txuas ntxiv vim qhov ntawd yuav ua rau tus neeg dhia dej dhia. Peb tseem tsis tau sau cov cai kom sib npaug nws tawm, yog li nws yuav yog qhov tsis zoo IDEA los sim qhov no nrog Tus Kws Tshaj Lij! Kuv tsuas yog ua qhov no vim lmao.
Kev ua qauv qhia tsuas yog qhia tias peb yuav tsum muaj peev xwm tswj tau lub qhov muag tawm ntawm lub app. Koj yuav pom tias cov motors tau hais lus tsis meej. Qhov no yog vim tias ESCs tsis tau ntsuas. Txhawm rau ua qhov no, ua tibzoo saib cov lus qhia ntawm nplooj Github no. Nyeem cov lus qhia, qhib ESC-Calibration.ino cov ntawv thiab ua raws cov lus qhia no. Yog tias koj xav nkag siab tias muaj dab tsi tshwm sim, txheeb xyuas qhov kev qhia no los ntawm Electronoobs.
Thaum koj tab tom ua haujlwm kom paub tseeb tias koj khi lub drone nrog cov hlua raws li nws yuav mus ntawm qhov kaw tag nrho. Kuj xyuas kom cov propellers tsis nyob. Kuv tsuas yog tso kuv li vim kuv ib nrab vwm. Tsis txhob tso koj cov neeg tshaj tawm rau !!! Qhov kev ua yeeb yam no tau qhia hauv video thib ob.
Kauj Ruam 9: Kuv Ua Haujlwm ntawm Txoj Cai. Yuav Ua tiav Cov Lus Qhia hauv Ob peb Hnub
Tsuas yog xav ntxiv tias yog tias koj siv qhov kev qhia no thiab tos kuv, kuv tseem ua haujlwm rau nws. Nws tsuas yog lwm yam hauv kuv lub neej tau tshwm sim uas kuv tseem tab tom ua haujlwm, tab sis tsis txhob txhawj kuv yuav tshaj tawm sai sai no. Cia peb hais qhov tseeb ua ntej Lub Yim Hli 10, 2019.
Hloov Kho Lub Yim Hli 10th: Tsis xav tso koj dai. Hmoov tsis zoo kuv tsis muaj sijhawm los ua haujlwm ntawm qhov haujlwm hauv lub lim tiam dhau los. Tau tibneeg hu tauj coob nrog lwm yam. Kuv tsis xav coj koj mus. Vam tias kuv yuav ua tiav cov lus qhia yav tom ntej. Yog tias koj muaj lus nug lossis xav tau kev pab koj tuaj yeem ntxiv cov lus pom hauv qab no thiab kuv yuav rov qab los rau koj.
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