BORIS Biped for Beginners and Beyond: 11 Kauj Ruam (nrog Duab)

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

Puas xav kawm paub yuav ua haujlwm li cas rau Arduino tab sis koj tsuas yog tsis zoo li pom qhov haujlwm tsim nyog siv sijhawm lossis nyiaj txiag txhawm rau ua li ntawd.

Puas xav kom muaj koj tus kheej yooj yim programmable, hackable, customizable neeg hlau tab sis nrhiav tsis tau ib qho uas haum rau koj cov kev xav tau lossis tus nqi sib tw.

Zoo, me tub kuv puas muaj txoj haujlwm rau koj, rau me dua 100 $ thiab nkag mus rau lub tshuab luam ntawv 3D koj tuaj yeem yuav koj tus kheej txhua qhov koj xav tau los tsim tus tub phem no:

BORIS Bipedal Orientation thiab Radar Intelligent System.

Yog li vim li cas BORIS thiaj los?

Raws li yav dhau los cov tub ntxhais kawm tsim qauv engineering kuv nco txog hnub thaum txhua yam peb muaj hauv Tsev Kawm Ntawv yog arduino nrog ib pawg ntawm cov xov hlau thiab cov cim taw tes ntsaws rau hauv thiab ntsais muag kom kawm tau lub cajmeem. Kuv tsim BORIS raws li kev kawm neeg hlau uas nws lub hom phiaj tseem ceeb yog qhia rau txhua tus neeg uas muaj kev txaus siab rau neeg hlau thiab kev ua haujlwm zoo li yuav ua li cas txav lub servo lossis tau txais lub teeb ntsais ntsais lossis tau txais tus neeg hais lus nrov nrov txhua qhov hauv qhov ntxim nyiam thiab zoo me ntsis pob

Vim li cas BORIS zoo tshaj?

• Nws ceev !!! nrog kev hloov pauv tshiab txhais ceg tsim BORIS yog ib qho ntawm cov neeg hlau sib tw nrawm tshaj plaws hauv nws qhov loj thiab nqe qeb kom ploj mus yog cov hnub uas koj yuav tsum tau tos ib nrab teev rau koj tus neeg hlau mus ncig lub meter thiab ua yeeb yaj kiab neeg hlau taug kev ntawm 10 zaug nrawm dua los ua kom nws zoo nyob hauv video.
• Nws yooj yim kom dhos !!! Nrog tsuas yog siv tus ntsia hlau koj tuaj yeem ua rau koj BORIS nce thiab khiav

• Nws puv nrog add -ons !!! Qhov no tsis yog tsuas yog bipedal taug kev neeg hlau BORIS tuaj nruab nrog lub ntsej muag nrog cov yam ntxwv ntxiv thiab ntxiv ons uas txhua qhov ua tau zoo tshaj plaws cov ntaub ntawv qhib qhov software thiab tawm ntawm lub txee hluav taws xob kho vajtse yog li txawm tias qhov tshiab tshaj plaws ntawm cov neeg tshiab tuaj yeem mus ntawm kev kawm yuav ua li cas kom neeg hlau ua qhov nws xav kom nws ua.

  1. Ultrasonic sensor rau teeb meem pom thiab zam
  2. 3 axis magnometer (digital compass) BORIS paub tias txoj kev mus txog qhov twg thiab nws taw qhia li cas
  3. OLED Zaub Nws lub qhov ncauj txav tau !!!
  4. Buzzer Nws tuaj yeem ua suab !!!
• Nws zoo li qub !!! Tsis txhob ntshai qhov kev ua haujlwm ntawm kab lus taug kev yog qhov tuag yooj yim tsis muaj cov txheej txheem nyuaj uas cuam tshuam rau kom tau txais Robot no txav mus.
• Nws yog 100% 3D luam tawm sib nrug ntawm cov khoom siv hluav taws xob thiab cov ntsia hlau rau cov khoom siv hluav taws xob BORIS ua tiav 3D luam tawm qhov no txo nws tus nqi thiab tseem ua rau cov khoom seem yooj yim dua nrog lub tshuab luam ntawv 3D

BORIS tuaj yeem ua dab tsi? Hauv qhov kev qhia no peb yuav:

• Tsim kom muaj BORIS
• Tau BORIS teeb tsa rau kev taug kev ntawm tus kheej nrog tus tswj hwm thiab teeb tsa rau kev taug kev tsis muaj kev cuam tshuam nrog kev tiv thaiv kev nyab xeeb thiab kev taw qhia ruaj khov (hauv lwm lo lus BORIS yuav zam dhau cov teeb meem thiab txuas ntxiv ntawm txoj kev teeb tsa)
• Tau BORIS teeb tsa rau kev taug kev ntawm tus kheej yam tsis xav tau tus tswj hwm nrog kev tiv thaiv kev tiv thaiv thiab kev txhim kho ruaj khov (hauv lwm lo lus BORIS yuav zam dhau cov teeb meem thiab txuas ntxiv ntawm txoj kev teeb tsa)

BORIS puas yog rau koj?

Zoo kuv yeej vam tias yog li tsis muaj ib qho txuas ntxiv ado cia peb tsim lub tsev !!!

Khoom siv

Rau qhov kev qhia no koj yuav xav tau:

Cov cuab yeej:

Lub taub hau me me ntsia hlau

QHOV TSEEB RAU ROBOT:

6x Qhov Zoo Tshaj Plaws Pro MG90S analog 180 deg servo (txuas ntawm no)

Koj tuaj yeem mus pheej yig los ntawm Tuam Tshoj ntawm ntau yam tab sis servos tsis yog ib ntawm lawv! Tom qab ntsuas ntau yam sib txawv sib txawv tshwj xeeb tshaj yog pheej yig cuav towerpro servos Kuv pom tias cov khoom cuav pheej yig yog qhov tsis txaus ntseeg thiab feem ntau tawg ib hnub tom qab siv yog li kuv txiav txim siab tiag tiag towerpro servos yuav yog qhov zoo tshaj plaws!

1x Sunfounder Wireless Servo Control Board (txuas ntawm no)

Koj tsis tuaj yeem pom lub rooj sib tham ua qauv zoo dua li qhov no rau kev tswj hwm wireless servo. Pawg thawj coj no muaj qhov hloov pauv hauv 5V 3A lub zog hloov hluav taws xob thiab 12 servo input pins thiab pins rau lub wireless nrf24L01 transceiver module thiab Arduino NANO tag nrho hauv cov khoom ntim tau zoo yog li tsis txhob txhawj xeeb txog cov kab tsis zoo nyob thoob plaws qhov chaw ntxiv lawm!

• 1x Arduino NANO (txuas ntawm no)
• 1x NRF24L01 Transceiver Module (txuas ntawm no) (Koj tsis xav tau qhov no yog tias koj tsis siv lub maub los)
• 1x Magnometer (digital compass) QMC5883L GY-273 (txuas ntawm no)
• 1x Ultrasonic sensorHC-SR04 (txuas ntawm no)
• 1x OLED Zaub 128x64 SSH1106 Dawb (txuas ntawm no)
• 1x Passive Buzzer (txuas ntawm no)
• 2x 18650 3.7V Li ion roj teeb (txuas ntawm no)
• 1x 18650 Roj teeb tuav (txuas ntawm no) (cov roj teeb no muab rau koj li 30 feeb sijhawm ua haujlwm zoo dua yuav muab rau koj li 2h ntawm lub sijhawm ua haujlwm)
• 1x LI ion roj teeb charger (txuas ntawm no)
• 1x jumper cables 120 pcs 10 cm ntev (txuas ntawm no)
• 1x Mini Breadboard (txuas ntawm no)
• 1x Screws 2mm x 8mm pob ntawm 100 (txuas ntawm no)

Txhua yam khoom siv hluav taws xob kuj tseem tuaj yeem pom ntawm Amazon yog tias koj tsis tuaj yeem tos tos xa khoom tab sis lawv yuav kim dua me ntsis.

Tswj:

Txhawm rau tswj tus Neeg Hlau no tus kheej koj yuav xav tau 3D luam tawm Arduino Controller (txuas ntawm no)

Tus Neeg Hlau kuj tseem tuaj yeem yog tus neeg muaj kev ywj pheej kom tus tswj hwm tsis tas yuav tsum tau ua.

Yas:

Cov khoom tuaj yeem luam tawm hauv PLA lossis PETG lossis ABS.

!! Thov nco ntsoov 500g spool ntau tshaj li txaus los sau 1 Robot !!

3D tshuab luam ntawv:

Yam tsawg kawg tsim lub platform xav tau: L150mm x W150mm x H100mm

Txhua lub tshuab luam ntawv 3d yuav ua. Kuv tus kheej luam tawm ntu ntawm Creality Ender 3 uas yog tus nqi qis 3D tshuab luam ntawv qis dua 200 $ Cov ntawv luam tawm tau zoo kawg nkaus.

Kauj Ruam 1: Luam Ntawv 3D

Yog li tam sim no nws yog lub sijhawm rau Luam Ntawv… Yog lawm

Kuv ua tib zoo tsim txhua yam ntawm BORIS cov khoom kom raug 3D luam tawm yam tsis muaj cov ntaub ntawv txhawb nqa lossis rafts xav tau thaum luam ntawv.

Txhua ntu muaj rau rub tawm ntawm Pinshape (txuas ntawm no) thiab MyMiniFactory (txuas ntawm no)

Txhua ntu tau raug kuaj luam tawm ntawm Creality Ender 3

Khoom siv: PETG

Txheej siab: 0.3 hli

Tus nqi: 15%

Nozzle txoj kab uas hla: 0.4mm

Cov npe teev rau BORIS yog raws li hauv qab no:

• 1x BODY BOTTOM
• 1x BODY MIDDLE
• 1x lub cev tom ntej
• 1x BODY REAR
• 2x lub cev hloov pauv
• 4x BODY SQUARE PINS
• 1x ELECTRONICS NTAWV
• 1x ELECTRONICS PIN
• 1 x OLED FRAME
• 2 x FEET
• 2x NOS
• 2 x LEG 1
• 2 LEG X 2
• 2x PISTON CASES
• 2x PISTON CASES (Daim iav)
• 4x PISTON HOLDERS
• 4x PIS
• 2 x HIPS
• 8x CIRCULAR PIN L1
• 2x CIRCULAR PIN L2
• 2x CIRCULAR PIN L3
• 10 x CIRCULAR PIN L4
• 16x SQUARE CLIP
• 22x CIRCULAR CLIP

Txhua ntu tuaj yeem luam tawm ua ib pab pawg lossis ib tus zuj zus.

Rau Pawg luam tawm txhua yam koj yuav tsum ua yog luam ib qho ntawm txhua daim ntawv GROUP.stl sib nrug ntawm Pawg LEG 1.stl, ntawv thiab GROUP CIRCULAR PIN.stl cov ntaub ntawv uas koj yuav tsum xaiv ib qho ntawm lawv thiab koj yuav muaj tag nrho cov txheej ntawm qhov yuav tsum tau.

Ua raws cov theem hauv qab no rau luam tawm txhua cov ntaub ntawv STL.

1. Pib los ntawm luam tawm LEG 1.stl cov ntaub ntawv ib tus zuj zus vim cov no nyuaj tshaj plaws luam lawv xav tau ib puag ncig ntawm 5mm thiab ib txheej qhov siab ib puag ncig ib feem kom tsis txhob warping yog vim li cas lub brim tsis tiv thaiv warping luam tawm LEG 1 NROG BRIM.stl cov ntaub ntawv.
2. Luam tus INDIVIDUAL CIRCULAR PIN.5mm L1, INDIVIDUAL CIRCULAR PIN.75mm L1 thiab INDIVIDUAL CIRCULAR PIN 1mm L1 ib zaug luam tawm kuaj cov pins hauv qhov ntawm LEG 1.stl uas koj tau luam tawm yav dhau los thiab xaiv qhov uas haum rau qhov nruj tshaj plaws yam tsis tau ua nruj kom tsis tuaj yeem thawb los ntawm lub qhov Yog tias ua tau siv lub.5mm ib qho raws li qhov nruj dua haum kom sai dua Tus Neeg Hlau yuav taug kev.
3. Ua mus ntxiv qhov seem ntawm GROUP. STL cov ntaub ntawv

Thiab nyob ntawd peb muaj nws li 2 hnub ntawm kev luam ntawv tom qab koj yuav tsum muaj tag nrho ntawm BORIS Cov Khoom Yas.

Kauj ruam 2 ua tiav !!!

Kauj Ruam 2: Txhim Kho Arduino

BORIS siv C ++ programming txhawm rau ua haujlwm. Txhawm rau rub cov program rau BORIS peb yuav siv Arduino IDE nrog rau ob peb lwm lub tsev qiv ntawv uas yuav tsum tau teeb tsa hauv Arduino IDE.

Nruab Arduino IDE rau koj lub computer

Arduino IDE (txuas ntawm no)

Txhawm rau teeb tsa lub tsev qiv ntawv hauv Arduino IDE koj yuav tsum ua cov hauv qab no nrog txhua lub tsev qiv ntawv hauv cov kab ntawv txuas hauv qab no

1. Nyem rau kab ntawv txuas hauv qab no (qhov no yuav coj koj mus rau lub tsev qiv ntawv GitHub nplooj ntawv)
2. Nyem Clone lossis rub tawm
3. Nyem download ZIP (rub tawm yuav tsum pib hauv koj lub vev xaib)
4. Qhib cov ntawv rub tawm lub tsev qiv ntawv
5. Unzip cov ntawv tais ceev tseg uas rub tawm
6. Luam lub unzipped tsev qiv ntawv nplaub tshev
7. Muab tshuaj txhuam lub tsev qiv ntawv unzipped rau hauv Arduino lub tsev qiv ntawv tais ceev tseg (C: / Documents / Arduino / libraries)

Tsev qiv ntawv:

• Varspeedservo tsev qiv ntawv (txuas ntawm no)
• QMC5883L lub tsev qiv ntawv (txuas ntawm no)
• Adafruit GFX lub tsev qiv ntawv (txuas ntawm no)
• Adafruit SH1106 lub tsev qiv ntawv (txuas ntawm no)
• Tsev qiv ntawv RF24 (txuas ntawm no)

Thiab nyob ntawd peb muaj nws koj yuav tsum npaj txhua yam kom mus kom ntseeg tau tias koj tau teeb tsa Arduino IDE kom raug raws li cov theem hauv qab no

1. Rub tawm qhov xav tau Arduino Code hauv qab no (Robot Controller & Autonomous.ino lossis Robot Autonomous.ino)
2. Qhib nws hauv Arduino IDE
3. Xaiv Cov Cuab Yeej:
4. Xaiv Pawg Thawj Coj:
5. Xaiv Arduino Nano
6. Xaiv Cov Cuab Yeej:
7. Xaiv Tus Txheej Txheem:
8. Xaiv ATmega328p (qub bootloader)
9. Nyem rau khawm Txheeb Xyuas (Tick khawm) nyob rau sab laug sab saud ntawm Arduino IDE

Yog tias txhua yam mus zoo koj yuav tsum tau txais cov lus hauv qab uas hais tias Ua tiav kev suav sau.

Thiab qhov ntawd yog koj tam sim no tau ua tiav Kauj Ruam 1 !!!

Kauj Ruam 3: Programing BORIS

Tam sim no nws yog lub sijhawm los tso cov cai rau BORIS lub hlwb Arduino Nano.

1. Txuas lub Arduino Nano rau hauv koj lub computer ntawm USB cable
2. Nyem rau khawm upload (Txoj cai xub khawm)
3. Yog tias txhua yam mus tau zoo koj yuav tsum tau txais cov lus hauv qab uas hais tias Ua tiav Kev Tso Tawm.

Thiab qhov ntawd yog rau Kauj Ruam 3.

Kauj Ruam 4: Calibrating BORIS's Servos

Yog li tam sim no nws yog lub sijhawm Calibrate thiab pib sib sau ua haujlwm rau ib feem ntawm BORIS …

Tag nrho cov Kauj Ruam hauv qab no tau piav qhia hauv Assembley Video saum toj no.

Cov Khoom Siv Hluav Taws Xob xav tau:

• 1 x Arduino Nano
• 1x NRF24LO1 transceiver (tsuas yog siv BORIS nrog tus tswj)
• 1x Sunfounder Wireless Servo Tswj Pawg Thawj Coj
• 6x Qhov tseeb TowerPro MG90S 180 deg servos
• 1 x Roj teeb Holder
• 2x 18650 3.7V Li ion Roj Teeb

Cov khoom yas xav tau:

• 4x pib
• 4x Piston tuav
• 2x Piston Cov
• 2x Piston Case (Daim iav)
• 2x qab
• 1x Lub cev hauv qab
• 1x Lub cev nruab nrab
• 4x Lub Cev Square Pins
• 4 x Square Clips

Screws thiab Servo Horns xav tau:

• 12x ntev tus kheej tapering screws
• 6 x ntsia hlau luv rau Servo Horns
• 4x ib leeg npab Servo Horns
• 2x dual caj npab Servo Horns

Sib dhos Pistons Cov Lus Qhia:

1. Muab tag nrho 4 Pistons tso rau hauv 4 Piston Holders
2. Xaub 4 Piston Case hla Piston Holders raws li qhia hauv Assembley Video saum toj no
3. Muab 4 Pistons tso rau kom qhov Pistons qhov thiab Piston Cases Holes tau koom ua ke
4. Ntxig 4 Servos los ntawm 4 Piston Cases qhov
5. Txhim kho 4 Servos nyob rau hauv qhov chaw nrog 2 ntev tus kheej tapering screws ib servo rau 4 Piston Cases (tsis txhob nrawm dua)

Sib dhos Lub Duav thiab Lub Cev Qhia:

1. Ntxig rau 2 Servos rau hauv Lub Cev Nruab Nrab (Nco ntsoov tso lawv txoj hauv kev ib puag ncig cov xov hluav taws xob tig mus rau sab nraud)
2. Txhim kho 2 Qhov Kev Pabcuam nyob rau hauv qhov chaw nrog 2 ntev tus kheej kheej kheej ntswj rau ib qho Servo rau Lub Cev Nruab Nrab
3. Ntxig rau 2 lub duav rau hauv Lub Cev Hauv Qab
4. Teem Lub Cev Hauv Qab nrog Lub Cev Nruab Nrab
5. Ruaj Ntseg Lub Cev Hauv Qab mus rau Lub Cev Nruab Nrab Nruab Nrab nrog 4 Lub Cev Square Pins (raws li qhia hauv Video Assembley)
6. Ruaj ntseg lub cev Square pins nrog 4 square Clips

Cov lus qhia hauv tshuab hluav taws xob:

1. Txuas lub Arduino thiab NRF24L01 transceiver (xaiv tau) rau hauv Servo Cotrol Board
2. Txuas Cov Roj Teeb Nrog Cov Xov Tooj (Liab rau Qhov Zoo Dub rau Qhov Tsis Zoo) rau Servo Control Board (Nco ntsoov tias kev sib txuas yog txoj hauv kev ib puag ncig)
3. Txuas cov Servos mus rau ntu 4, 5, 6, 7, 8 thiab 9 hauv txhua qhov kev txiav txim koj xav tau (Nco ntsoov kom tau txais kev sib txuas raws txoj kev ib puag ncig)
4. Ntxig Cov Roj Teeb
5. Thawb lub Servo Control Board khawm mus rau txoj haujlwm nias
6. Hloov lub roj teeb Holder hloov mus rau ON txoj haujlwm
7. Pawg Thawj Coj yuav tsum teeb thiab Servos yuav tsum txav mus rau lawv li 90 degree txoj haujlwm nyob hauv tsev

Sib sau ua ke Servo horns Cov lus qhia:

1. Thaum Servos tau mus txog lawv li 90 degree txoj haujlwm hauv tsev ntxig rau Ib leeg npab Servo Horns rau hauv Pistons ntawm 90 degree kaum (+- ob peb qib ntawm offset tsis yog qhov kawg ntawm lub ntiaj teb) rau txhua Piston Cases raws li qhia hauv Assembley Video saum toj no.
2. Ntxig rau Dual Arm Servo Horns rau hauv Lub Duav kom ob txhais caj npab servo nyob ua ke ib leeg. Raws li qhia hauv Assembley Video saum toj no
3. Ruaj ntseg txhua qhov Servo Horns rau Servos nrog 1 lub ntsia hlau luv rau Servo
4. Hloov lub roj teeb Holder hloov mus rau OFF txoj haujlwm
5. Tshem tawm Servos los ntawm kev sib txuas 4, 5, 6, 7, 8 thiab 9

Thiab nyob ntawd peb muaj nws ib qho Servos raug ntsuas thiab tus neeg hlau uas seem tau npaj los sib sau ua ke.

Kauj Ruam 5: Sib dhos BORIS Ob txhais ceg

Tag nrho cov Kauj Ruam hauv qab no tau piav qhia hauv Assembley Video saum toj no.

Cov khoom yas xav tau rau Sab Qaum Sab:

• 1x Sab laug ko taw
• 1x luj
• 1x lwg 1
• 1x lwg 2
• 2x Sib dhos Pistons
• 4 x Pins ncig L1
• 1 x Pins ncig L2
• 1 x Pins ncig L3
• 3 x Pins ncig L4
• 9x Daim Duab Qub

Cov Lus Qhia Ua Ke Sab Leeg:

1. Xaub 4 Kab Piav Qhia L1 hla lub Pob Zeb Qhov (Raws li qhia hauv video Assembley)
2. Muab ib qho ntawm Cov Pistons Sib Sau ua ke rau hauv qhov chaw ntawm Sab Qaum Sab xaiv lub Piston sib dhos uas ua rau Servo cov xov hluav taws xob tig rov qab (Raws li qhia hauv video Assembley)
3. Muab Pob Zeb tso rau ntawm lub Qhov Ncauj Lus Taw thiab lub qhov ntawm Assembled Piston
4. Xaub 1 Cov voj voos L2 hla ntawm Pob Zeb thiab Taw taw
5. Xaub 1 Cov voj voos L3 hla ntawm Pob Zeb thiab Sib Sau Piston sib koom ua ke
6. Xaub 1 Cov voj voos L4 hla tus taw thiab sib dhos Piston sib koom ua ke
7. Muab tus ceg 1 tso rau ntawm Pob Luj Taws thiab Pins Pins L1
8. Muab ob txhais ceg 2 tso rau ntawm Pob Luj Taws thiab Pins Pins L1
9. Muab ib qho ntawm Cov Pistons Sib Dhos nyob nruab nrab ntawm Leg 1 thiab Leg 2 xaiv qhov uas ua rau lub ntsej muag servo lub ntsej muag sab nrauv (Raws li qhia hauv cov vis dis aus sib dhos)
10. Xaub 1 Cov voj voos L4 hla ceg 1 thiab Piston sib dhos
11. Xaub 1 Cov voj voos L4 hla ceg 2 thiab Piston sib dhos
12. Ruaj ntseg txhua lub voj voos nrog cov yeeb yaj kiab ncig

Cov Khoom Yas xav tau rau Txoj Cai Ncaj Ncees:

• 1x Txoj Cai Taw
• 1x luj
• 1x lwg 1
• 1x lwg 2
• 2x Sib dhos Pistons (Daim iav)
• 4 x Pins ncig L1
• 1 x Pins ncig L2
• 1 x Pins ncig L3
• 3 x Pins ncig L4
• 9x Daim Duab Qub

Txoj Cai Ncaj Ncees Cov Lus Qhia:

Ua tib yam li Cov Lus Qhia Sab Qaum Teb

Kauj Ruam 6: Sib dhos BORIS Lub Cev

Tag nrho cov Kauj Ruam hauv qab no tau piav qhia hauv Assembley Video saum toj no.

Cov Khoom Siv Hluav Taws Xob xav tau:

• OLED Zaub
• Buzzer
• Magnometer (digital compass) Cov
• Mini Breadboard Cov
• Sib Sau Cov Roj Teeb thiab Lub Rooj Tswjhwm Saib Xyuas Servo

Cov ntsia hlau xav tau:

9x Ntev tus kheej tapering screws

Cov khoom yas xav tau:

• 4x Cov voj voos L4
• 1x Electronics Ncej
• 1x OLED Ncej
• 2x Lub cev plaub fab
• 1x Electronics Square tus pin
• 6 x Square Clips
• 4 x Voj Clips
• 1x Lub cev sib dhos
• 2x Sib dhos Ob txhais ceg

Cov Lus Qhia Hauv Lub Cev:

1. Muab Txoj Kev Sib Sau Sab Qaum rau ntawm Lub Duav ntawm Lub Cev Sib Koom (Nco ntsoov muab lawv tso rau ntawm txoj kev ib puag ncig)
2. Ruaj ntseg nyob rau hauv qhov chaw nrog 2 Lub voj pins L4 thiab 2 Lub Voj Clips
3. Rov ua cov kauj ruam 1 thiab 2 rau Txoj Cai Ncaj Ncees
4. Ntsia lub Buzzer nyob rau hauv qhov chaw ntawm Lub Cev. Raws li qhia ntawm Assembley Video saum toj no
5. Dhau qhov Servo cov xov hluav taws xob los ntawm qhov Hips hauv Lub Cev thiab hla lawv nyob nruab nrab ntawm 2 Hip servos. Raws li qhia ntawm Assembley Video saum toj no
6. Ntxig Cov Khoom Siv Hluav Taws Xob rau hauv qhov chaw ntawm Lub Cev (Nco ntsoov sib sau ua ke kom raug)
7. Ruaj ntseg hauv qhov chaw nrog Electronics Square tus pin thiab 2 Square Clips
8. Muab lub Mini Breadboard tso rau ntawm Qhov Khoom Siv Hluav Taws Xob
9. Tshem Cov Roj Teeb los ntawm Lub Roj Teeb
10. Ntsia Tus Tuav Lub Roj Teeb rau sab nraum qab ntawm Cov Khoom Siv Hluav Taws Xob nrog 2 cov kab pheeb ces kaum raws li tau qhia hauv Assembley Video saum toj no (nco ntsoov ntswj nws kom raug)
11. Ntsia Tus Thawj Saib Xyuas Haujlwm Servo rau Cov Khoom Siv Hluav Taws Xob nrog 2 tus ntsia hlau kab pheeb ces kaum
12. Ntsia lub Magnometer (digital compass) mus rau Electronic Frame nrog 2 tus ntsia hlau
13. Ntsia cov OLED zaub rau OLED Ncej nrog 2 tus ntsia hlau kab pheeb ces kaum
14. Hloov Lub Caj Npab Lub Cev ntawm ob sab ntawm Lub Cev
15. Ruaj ntseg lawv nyob rau hauv qhov chaw nrog 4 Square Clips

Kauj Ruam 7: Txuas Hluav Taws Xob

Tam sim no nws yog lub sijhawm los ua si nrog Spaghetti !!!

1. Txuas txhua 6 servos mus rau Pawg Thawj Coj sib txuas 4, 5, 6, 7, 8 thiab 9 raws li qhia hauv daim duab saum toj no (nco ntsoov txuas lawv txoj hauv kev ib puag ncig)
2. Txuas 3 tus poj niam rau poj niam jumper cables rau Vcc, Hauv av thiab Teeb liab pins ntawm kev txuas tus lej 10
3. Txuas lwm qhov kawg ntawm 3 tus poj niam rau poj niam jumper cables rau Vcc, Hauv av thiab I/O pins ntawm Buzzer module (nco ntsoov txuas lawv txoj hauv kev ib puag ncig)
4. Txuas 2 tus poj niam rau tus poj niam jumper cables rau Vcc thiab hauv av pins ntawm kev txuas tus lej 3
5. Txuas lwm qhov kawg ntawm 2 tus poj niam rau poj niam jumper cables rau Vcc thiab Av Pins ntawm Ultrasonic Sensor (nco ntsoov txuas lawv txoj hauv kev ib puag ncig)
6. Txuas 2 tus poj niam rau tus poj niam jumper cables rau Lub Teeb Pins ntawm kev sib txuas 2 (Echo) thiab 3 (Trig)
7. Txuas lwm qhov kawg ntawm 2 tus poj niam rau poj niam jumper cables rau Echo thiab Trig pins ntawm Ultrasonic Sensor (nco ntsoov txuas lawv txoj hauv kev ib puag ncig)
8. Txuas 2 tus poj niam rau tus poj niam jumper cables rau Vcc thiab hauv av pins ntawm kev txuas tus lej 11
9. Txuas lwm qhov kawg ntawm 2 tus poj niam rau poj niam jumper cables mus rau Vcc thiab Av Pins ntawm OLED Diplay (nco ntsoov txuas lawv txoj hauv kev ib puag ncig)
10. Txuas 2 tus poj niam rau tus poj niam jumper cables rau Vcc thiab hauv av pins ntawm kev txuas tus lej 12
11. Txuas lwm qhov kawg ntawm 2 tus poj niam rau poj niam jumper cables mus rau Vcc thiab Av Pins ntawm Magnometer (digital compass) (nco ntsoov txuas lawv txoj hauv kev ib puag ncig)
12. Txuas 2 tus poj niam rau txiv neej jumper cables rau Lub Teeb Pins ntawm kev sib txuas 11 (SDA) thiab 12 (SCL)
13. Txuas lwm qhov kawg ntawm 2 tus poj niam rau txiv neej jumper cables rau 2 txoj kab sib txawv ntawm Mini Breadboard
14. Txuas 2 tus poj niam rau txiv neej jumper cables los ntawm SCL tsheb nqaj hlau ntawm Mini Breadboard mus rau SCL pins ntawm OLED Display thiab Magnometer (digital compass)
15. Txuas 2 tus poj niam rau txiv neej jumper cables los ntawm SDA tsheb nqaj hlau ntawm Mini Breadboard mus rau SDA pins ntawm OLED Zaub thiab Magnometer (digital compass)

Kauj Ruam 8: Ua tiav Kev Sib Sau BORIS Lub Cev

Tag nrho cov Kauj Ruam hauv qab no tau piav qhia hauv Assembley Video saum toj no.

Cov khoom yas xav tau:

• 1x Pem Hauv Ntej Lub Cev
• 1x Lub cev tom qab
• 6 x Square Clips
• Sib sau ua ke BORIS

Cov Lus Qhia Hauv Lub Cev:

1. Hloov qhov OLED Ncej rau hauv Lub Cev
2. Ruaj ntseg nrog 2 Square Clips
3. Hloov qhov Ultrasonic Sensor rau hauv Lub Cev Lub Cev
4. Hloov Pem Hauv Ntej Lub Cev hla dhau Sab Pem Hauv Ntej ntawm Lub Cev Lub Cev
5. Ruaj ntseg nrog 2 Square Clips
6. Muab Cov Roj Teeb thiab Lub Hau Roj Teeb npog rau ntawm Lub Roj Teeb
7. Hloov lub Rear Lub Cev hla Lub Tsheb Tom Qab ntawm Lub Cev Lub Cev
8. Ruaj ntseg nyob rau hauv qhov chaw nrog 2 Square Clips

Kauj Ruam 9: Yuav Siv BORIS li cas

Yog li muaj peb muaj nws peb tau ua tiav qhov kawg ua ke BORIS tam sim no nws yog lub sijhawm los ua si

Nov yog ob peb Cov Lus Qhia Siv:

BORIS tsis muaj Tus Tswj:

1. Hloov BORIS rau
2. Tig nws ib puag ncig kom ntsuas lub ntsuas qhov ntsuas (digital compass) koj muaj 10 vib nas this los ua li ntawd
3. Muab nws tso rau hauv txoj kev koj xav kom nws mus tom ntej
4. Saib nws mus thiab zam txhua yam teeb meem uas nyob hauv nws txoj kev

BORIS nrog Tus Tswj:

1. Hloov BORIS rau
2. Hloov Tus Tswj Xyuas
3. Tig nws ib puag ncig kom ntsuas lub ntsuas qhov ntsuas (digital compass) koj muaj 10 vib nas this los ua li ntawd
4. Siv Joystick los tswj
5. Nias lub khawm nce thiab nqis rau Dance txav
6. Nias lub khawm sab laug thiab sab xis rau Sab laug ncaws thiab ncaws sab xis
7. Nias lub khawm Joystick rau 2 vib nas this txhawm rau qhib hom kev muaj tus kheej
8. Nias lub Joystick khawm kom txog thaum tus neeg hlau nres txav mus rau deactivate hom kev ua haujlwm tsis siv neeg

Kauj Ruam 10: Nkag Siab BORIS Txoj Cai Hauv Paus:

Yog li tam sim no koj tau txais BORIS thiab khiav cia hais tias koj xav hloov pauv nws tus cwj pwm.

Cia kuv pab koj me ntsis ntawm kev nkag siab txoj kev Boris tau npaj li cas:

Hloov txoj hauv kev BORIS yog phiaj xwm thaum taug kev Tsis Txaus Ntshai:

Nov yog cov npe ntawm cov lus txib npaj ua ntej uas BORIS tuaj yeem ua tau:

Ntseeg ();

Luag ();

HappySound ();

SadSound ();

RobotForward ();

RobotBackward ();

RobotLeft ();

RobotRight ();

RobotLeftKick ();

RobotRightKick ();

RobotDance1 ();

RobotDance2 ();

Nov yog ib feem ntawm txoj cai koj yuav xav hloov:

// Yog Sensor pom phab ntsa

yog (nrug> 2 && nrug = 20 && buttonJoystickPushCounter == 1 && OrientationError = - 30) {Smile (); HappySound (); RobotForward (); RobotForward (); } // Yog tias Sensor tsis pom phab ntsa thiab Kev Taw Qhia> Xav tau kev taw qhia +- 30 degrees yog (nrug> = 20 && buttonJoystickPushCounter == 1 && OrientationError <0) {Smile (); RobotLeft (); } // Yog Sensor pom tsis muaj phab ntsa thiab Kev taw qhia = 20 && buttonJoystickPushCounter == 1 && OrientationError> 0) {Smile (); RobotRight (); }

Kauj Ruam 11: BORIS mus rau Yav Tom Ntej thiab Tom Qab

Zoo tam sim no uas peb tau ua tiav BORIS cia tham txog BORIS lub neej yav tom ntej.

Qhov tseeb yog, Kuv tsis paub yuav ua dab tsi nrog BORIS tam sim no nws txhua yam nyob ntawm cov lus tawm tswv yim uas kuv tau txais los ntawm koj nyob ntawm no ntawm Cov Lus Qhia no.

Yog li kuv vam tias koj nyiam qhov Qhia Ntawv no thiab Thov qhia rau kuv paub koj xav li cas.

Thawj qhov khoom plig hauv Kev Ua Nws Tsiv