WIFI CONTROLLED ZUMO ROBOT: 3 Kauj Ruam

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

Txheej txheem kho vajtse:

B RedBearLab CC3200: Cov.

Texas Instrument's SimpleLink CC3200 lub cuab yeej yog MCU wireless uas suav nrog kev ua haujlwm siab ARM Cortex-M4 core khiav mus txog 80MHz uas tso cai tsim kho ib daim ntawv thov nrog rau ib IC. Cov cuab yeej no suav nrog ntau yam ntawm cov khoom siv suav nrog lub koob yees duab sib txuas nrawm, I2S, SD/MMC, UART, SPI, I2C thiab plaub raws ADC. Lub zog tswj kev tswj hwm suav nrog kev sib xyaw DC-DC hloov pauv txhawb nqa ntau yam khoom siv hluav taws xob nrog kev siv hluav taws xob tsawg.

Cov yam ntxwv tseem ceeb:-CC3200 Dual core MCU: ARM Cortex-M4 core ntawm 80 MHz rau daim ntawv thov thiab mob siab rau ARM core rau Wi-nkaus Network Ua

- 256KB RAM 1MB serial flash nco nrog cov ntaub ntawv kaw lus rau cov neeg siv. - Kho vajtse Crypto Cav rau Kev Ruaj Ntseg Zoo Tshaj, suav nrog AES, DES, 3DES, SHA2 MD5, CRC thiab Checksum.

- Txog 27 tus neeg tuaj yeem ua haujlwm tau tus kheej, ntau tus GPIO pins, suav nrog lub koob yees duab sib txuas nrawm, I2S, SD/MMC, UART, SPI, I2C, thiab plaub-channel ADC.

-Lub Tshuab Muaj Zog Crypto rau Kev nrawm, Ruaj Ntseg Wi-nkaus thiab Kev Sib Txuas Hauv Is Taws Nem nrog 256-ntsis AES Kev Nkag Rau TLS thiab SSL kev sib txuas.

- SmartConfig Technology, AP Hom thiab WPS2 kom yooj yim thiab yoog raws Wi-nkaus muab

Um Zumo Neeg Hlau v1.2:

Zumo neeg hlau tswj hwm lub rooj tsavxwm yog daim ntaub thaiv npaj rau siv nrog CC3200 lossis cov khoom siv sib xws ua nws lub luag haujlwm tseem ceeb. Nws ntsuas tsawg dua 10 cm ntawm txhua sab. Nws siv ob lub 75: 1 HP micro hlau iav lub cev muaj zog los tsav lub treads, muab lub zog ntau thiab qhov nrawm tshaj ntawm kwv yees li 2 ko taw ib ob (60 cm/s). Tsis tas li, nws suav nrog 0.036 -thiab laser-txiav stainless hlau sumo hniav ntsia rau ntawm lub hauv ntej ntawm lub chassis rau thawb ncig cov khoom ib yam li lwm tus neeg hlau, thiab lub teeb pom kev zoo teeb tsa tau teeb tsa nyob rau sab pem hauv ntej ntawm Zumo (tom qab lub ntsej muag sumo) tso cai rau Zumo txhawm rau txheeb xyuas cov yam ntxwv hauv av pem hauv ntej ntawm nws, xws li kab rau hauv qab no lossis ntug rau kev zam.

Nta Tseem Ceeb:- Dual H-Choj tsav lub cev muaj zog.

- Buzzer.

- Tus neeg siv LED thiab Pushbutton.

- 3-axis accelerometer, compass, thiab gyroscope

Kauj Ruam 1: Teeb Kho Vajtse

Yuav Tsum Tau Kho Vajtse:

B RedBearLab CC3200 Cov

Zumo Neeg Hlau rau Arduino v1.2

 Ob 2.54 mm txiv neej lub taub hau

 Ob tug poj niam-poj niam hwm jumper xov hlau

 Plaub lub roj teeb AA

Pib los ntawm kev npaj ua ntej Zumo Neeg Hlau rau Arduino v1.2, tsuas muaj ob peb kauj ruam los tsim Zumo CC3200 tshiab:

 Solder kab ib kab ntawm lub taub hau rau Zumo daim thaiv Lub Pololu Zumo Shield rau Arduino Tus Neeg Siv Phau Ntawv Qhia piav qhia, ntxaws ntxaws, yuav ua li cas sib dhos Zumo neeg hlau los ntawm cov khoom siv thiab, ntawm nplooj ntawv 16, yuav ua li cas kom tawg nws txaus ntxiv cov khoom tshiab. Cov txheej txheem kev sib cais yog cov ntsiab lus thiab cov lus piav qhia me ntsis hauv qab no.

1. Tshem cov ciav hlau los ntawm lub chassis thiab ua tib zoo xaub ob txoj hlua tsav tawm ntawm lub tshuab tsav.

[Cov sprockets tau nruj heev txuas rau lub cev muaj zog: txoj hauv kev nyab xeeb tshaj plaws kom tshem tawm lawv yog tso lub sprocket rau hauv qhov me me thiab maj mam coj mus rhaub lub cav nrog 3/32 nti tus pin punch (lossis tus ntsia hlau me me). Hauv kev xyaum, nws tsis tseem ceeb kom tshem tawm cov sprockets los ntawm lub cev muaj zog; los ntawm kev swb lawv dhau ntawm lub chassis, tab sis tseem nyob ntawm tus ncej, nws muaj peev xwm cais cov ntaub thaiv npog los ntawm lub chassis. Los ntawm tsis tshem tawm lawv tag nrho, nws yuav yooj yim dua los kho cov sprockets tom qab.]

2. Tshem lub roj teeb npog thiab roj teeb ntawm lub chassis.

3. Tshem tawm tag nrho plaub lub tshuab ntsia hlau thiab txiv ntseej tuav daim thaiv rau lub chassis.4. Nyem rau lub roj teeb tsis zoo lub caij nplooj ntoo hlav thiab maj mam ua kom yooj yim ob lub roj teeb lub dav hlau dhau los ntawm lub qhov hauv lub chassis. Cov motors yuav txuas nrog daim ntaub thaiv thaum nws sib cais los ntawm lub chassis.

5. Ua tib zoo khoov ob lub cav kom deb ntawm daim ntaub thaiv kom tso rau sab pem hauv ntej ntawm lub phaj phaj kom tshem tawm.

[Ob lub spacers yuav tsum tau muab tshem tawm kom yaj rau ntawm lub taub hau tshiab thiab, vim tias lawv yuav luag tab sis tsis zoo ib yam ob tog sib npaug, koj yuav xav ua tib zoo ceeb toom ntawm lawv qhov kev tso npe kom rov ua cov txheej txheem rov ua tiav.

6. Siv kab kab ntawm kab taub hau rau Zumo daim ntaub thaiv uas muab kev nkag mus rau tus pin 5, 6, 9, thiab 10

7. Koj tuaj yeem rov sib sau Zumo los ntawm kev ua raws cov txheej txheem disassembly hauv thim rov qab.

[Saib xyuas kom hloov cov phaj phaj raws nraim li lawv tau teeb tsa thaum xub thawj. Txij li thaum lawv tsis zoo ib yam ob tog sib npaug, nws yooj yim rau yuam kev hloov cov spacers upside down. Cov kab hauv qab ntawm lub nraub qaum muaj qhov dav dav ntxiv rau ntawm ib sab kom muaj chaw rau "them txuas" lub taub hau nyob ib sab ntawm qhov qhib/tua. Nco ntsoov tias lub nraub qaum nraub qaum zoo ib yam ntawm cov roj teeb thiab daim ntaub thaiv.]

 Txuas lub xov hlau txuas ntawm tus pin 5 thiab 9 thiab lwm txoj hlua ntawm tus pin 6 thiab 10.

Nco tseg: Pawg RedBearLab CC3200 tsuas yog txhawb PWM cov zis ntawm tus pin 5 thiab 6 thaum; Zumo daim ntaub thaiv txuas tus pin 9 thiab 10 rau PWM cov tswv yim ntawm DRV8835 lub cev muaj zog tsav tsheb. Yog li, ob tus neeg dhia no xav tau.

 Tshem tawm Zumo qhov kev xav ntawm lub teeb pom kev los ntawm pem hauv ntej hauv qab ntawm Zumo. Note: Tsis txhob siv Zumo kev cuam tshuam lub teeb pom kev zoo thaum RedBearLab CC3200 txuas nrog Zumo; cov cim tsim 5V cov cim uas tuaj yeem ua kev puas tsuaj tas mus li 1.5V cov khoom sib piv ntawm CC3200.

 Plug RedBearLab CC3200 nyob rau sab saum toj ntawm Zumo daim ntaub thaiv.

Kauj ruam 2: Software

Gia Energia version17 MT: Tsim thiab khiav cov apps uas ua haujlwm ntawm RedBearLab CC3200 LP.

Nco tseg: Siv tsuas yog Energia Tso Tawm 0101E0017.

 Ua 2.2.1: Txhawm rau khiav lub program-side program uas tswj hwm Zumo CC3200. Ntau: Nco ntsoov rub tawm Kev Ua 2.x tsis yog 3.x; ntau qhov piv txwv siv tsev qiv ntawv uas tseem tsis tau xa mus rau Kev Ua 3.x.

Teeb Software:

 Nruab Energia version17 MT, yog li koj tuaj yeem tsim thiab tsim cov duab kos uas khiav ntawm Zumo. Yog tias koj siv lub Windows version ntawm Energia, koj yuav tsum tseem, - Nruab RedBearLab USB tsav tsheb kom pab tau Energia MT txhawm rau rub cov haujlwm rau RedBearLab CC3200 thiab qhib kev sib txuas lus nrog CC3200 ntawm lub Windows COM chaw nres nkoj.

- Nruab CC3200 Tsav Tsheb rau Windows (saib cov lus qhia hauv qab "CC3200 LaunchPad" ntu kom paub meej).  Txhim Kho Kev Ua Haujlwm 2.2.1, yog li koj tuaj yeem yooj yim tsim cov duab kos uas sib tham nrog Zumo ntawm Wi-nkaus.

Kev daws teeb meem: Yog tias koj siv Windows thiab Energia tsis tuaj yeem xa mus rau CC3200, nco ntsoov tias koj tau teeb tsa CC3200 Tsav Tsheb rau Windows. Yog tias, tom qab teeb tsa, Energia tseem tsis tuaj yeem rub tawm ces luam cc3200_drivers_win/i386/ftd2xx.dll rau hauv daim nplaub tshev uas muaj Energia's upload program (cc3200load.exe): Energia_installation_folder/hardware/tools/lm4f/bin.

Kauj ruam 3: Demo

Tom qab kho vajtse sib dhos thiab teeb tsa cov cuab yeej software tau piav qhia saum toj no, Zumo CC3200 qhov kev ua haujlwm kho vajtse yooj yim tuaj yeem pom tau siv qhov yooj yim Energia MT kos duab uas sib txuas lus nrog Kev kos duab. Ua ke, cov duab kos no muab cov keyboard yooj yim tswj ntawm Zumo cov motors thiab lub sijhawm tiag tiag tso saib Zumo's accelerometer thiab gyro cov ntaub ntawv.

Tsim thiab Upload ZumoTest Demo:

 Txuas Zumo rau koj lub PC nrog USB cable.

- Hloov Zumo Bot lub zog hloov mus rau "tua" (lub zog yuav muab rau CC3200 ntawm USB txuas).

- Txuas RedBearLab CC3200 USB rau ib qho ntawm koj lub PC USB chaw nres nkoj.

 Unzip lub "ZumoTest" nplaub tshev los ntawm cov ntawv txuas, thiab ob npaug nyem rau cov ntaub ntawv ZumoTest/ZumoTest.ino. Note: Thawj zaug koj nyem ob zaug kos duab tom qab teeb tsa Energia MT, Windows yuav nug koj tias qhov program twg yuav qhib qhov kos duab. Cias taw rau koj kev teeb tsa ntawm Energia MT thiab koom nrog energia.exe program nrog.ino cov ntaub ntawv.

Tsis pub dhau Energia MT IDE:- Xaiv RedBearLab CC3200 EMT board (ntawm Cov Cuab Yeej> Pawg Thawj Coj> RedBearLab CC3200 EMT (80MHz))

- Xaiv qhov chaw nres nkoj COM uas txuas nrog Zumo (ntawm Cov Cuab Yeej> Serial Port> COMx). Yog tias koj siv Windows, nws yog "mbed Serial Port" uas tshwm nyob rau hauv "Ports (COM & LPT)" hauv Tus Thawj Tswj Ntaus Ntawv.- Nyem rau "Upload" khawm los tsim thiab xa ZumoTest kos duab mus rau CC3200.

 Rov pib dua CC3200 los ntawm kev nias thiab tso RedBearLab CC3200 lub khawm rov pib dua. Hauv cov xwm txheej no, nws feem ntau pab tshem tawm thiab rov txuas lub USB cable, thiab sim rov rub dua.

Z ZumoTest kos duab saum toj no pib nws lub network, hu ua "zumo-test" nrog tus lej "password", uas yuav tsum pom los ntawm koj lub PC. - Txuas koj lub PC rau zumo-sim WiFi network

 Unzip lub "Zumo Test Sketch" nplaub tshev, thiab ob npaug nyem rau zgraph/zgraph.pde ntawv.

Nco tseg: Thawj zaug koj kos ob daim duab tom qab txhim kho Kev Ua Haujlwm, Windows yuav nug koj tias txoj haujlwm twg yuav tsum qhib daim duab. Cias mus rau koj qhov kev teeb tsa Ua Haujlwm thiab koom nrog kev ua tiav.exe nrog.pde cov ntaub ntawv.

Hauv Kev Ua IDE:

- Nyem rau ntawm Khiav khawm kom pib khiav daim duab

- Tos rau lub qhov rai teeb tsa kom pom thiab ntaus tus ntawv 'c' kom pib nrhiav tau tas mus li thiab tso tawm cov ntaub ntawv ntsuas qhov ntsuas los ntawm ZumoKoj yuav tsum pom peb daim phiaj sib cais ntawm cov ntaub ntawv nrawm, ib qho rau x, y, thiab z axis. Txhua qhov kev txav chaw ntawm Zumo yuav tsum muaj kev cuam tshuam hauv kev hloov pauv tam sim rau cov phiaj xwm no. Koj tuaj yeem hloov mus rau kev qhia cov ntaub ntawv gyro lub sijhawm tiag tiag los ntawm kev ntaus 'G' thaum lub teeb duab qhov rai tau tsom mus thiab hloov rov qab mus rau lub sijhawm ua kom nrawm dua los ntawm kev ntaus 'A'.

Koj tseem tuaj yeem tsav Zumo CC3200 siv cov keyboard keyboard 'w', 'a', 's', 'd', thiab '' (space). 'W' - tsav mus rau tom ntej

'a' - lem sab laug

's' - tsav rov qab

'd' - lem sab xis

' - nres Saib cov zgraph/zgraph.pde cov ntaub ntawv rau cov lus txib keyboard ntxiv.

Tsim thiab Tshaj Tawm Zumo Ntsuas Kev Sib Tham

 Txhim Kho Lub Tsev Qiv Ntawv: Qhov kev nthuav qhia no xav tau ControlP5 (Lub tsev qiv ntawv GUI rau kev ua) thiab nws tuaj yeem rub tawm los ntawm cov ntawv txuas. Ua raws cov lus qhia hauv qab no txhawm rau teeb tsa lub tsev qiv ntawv no hauv Kev Ua Haujlwm.

- Pib ua daim ntawv thov

- Nrhiav koj Cov Ntawv Teev Npe sketchbook los ntawm kev xaiv Cov Ntawv> Nyiam cov ntawv qhia zaub mov thiab nrhiav "Sketchbook qhov chaw"

- Luam daim ControlP5 nplaub tshev rau hauv cov tsev qiv ntawv nplaub tshev ntawm koj daim duab sketchbook. Koj yuav tsum tsim cov ntawv tais ceev tseg yog tias qhov no yog thawj qhov koj tau pab txhawb kev teeb tsa lub tsev qiv ntawv.

 Txuas Zumo rau koj lub PC nrog USB cable.

- Hloov Zumo Bot lub zog hloov mus rau "tua" (lub zog yuav muab rau CC3200 ntawm USB txuas).

- Txuas RedBearLab CC3200 USB rau ib qho ntawm koj lub PC USB chaw nres nkoj.

 Unzip lub "ZumoBalance" nplaub tshev los ntawm cov ntawv txuas, thiab ob npaug nyem rau cov ntaub ntawv ZumoBalancing/Balancing.ino. Tsis pub dhau Energia MT IDE:

- Xaiv RedBearLab CC3200 EMT board (ntawm Cov Cuab Yeej> Pawg Thawj Coj> RedBearLab CC3200 EMT (80MHz))

- Xaiv qhov chaw nres nkoj COM uas txuas nrog Zumo (ntawm Cov Cuab Yeej> Serial Port> COMx). Yog tias koj siv Windows, nws yog "mbed Serial Port" uas tshwm nyob rau hauv "Ports (COM & LPT)" hauv Tus Thawj Tswj Ntaus Ntawv.- Nyem rau "Upload" khawm los tsim thiab xa cov duab kos sib npaug rau CC3200.

 Pib dua CC3200 los ntawm kev nias thiab tso RedBearLab CC3200 lub khawm pib dua.

Nco tseg: qee zaum Energia MT muaj teeb meem xa cov duab kos mus rau RedBearLab CC3200. Hauv cov xwm txheej no, nws feem ntau pab tshem tawm thiab rov txuas lub USB cable, thiab sim rub nws dua.

 ZumoBalancing kos duab saum toj no pib nws tus kheej network, hu ua "zumo-balancing" nrog tus lej "password", uas yuav tsum pom los ntawm koj lub PC.

1. Txuas koj lub PC rau zumo-ntsuas Wi-nkaus network

 Unzip the "Zumo Balance Sketch" nplaub tshev los ntawm cov ntawv txuas, thiab ob npaug nyem rau zbalacing/zbalancing.pde cov ntaub ntawv.