GoPiGo3 Line Follower: 8 Kauj Ruam

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

Hauv qhov kev qhia no, peb tab tom noj kab hauv qab thiab siv nws ntawm GoPiGo3 kom nws ua raws kab dub.

Kauj Ruam 1: Sib sau Cov Khoos Phis Tawj

Muaj ob peb yam uas peb xav tau ua ntej peb pib tsim peb cov kab hauv qab no:

1. Ib ntawm 2 Dexter Industries Line Followers: tog Red Line Follower lossis tus dub, luv dua me ntsis. Cov kab hauv qab dub yog txoj hauv kev ua tau zoo dua li yav dhau los.
2. Lub roj teeb pob rau GoPiGo3. Peb pom zoo siv Dexter Industries roj teeb pob raws li nws tuaj yeem ua rau Raspberry Pi khiav tau txawm tias lub cav tau mus tas li.
3. GoPiGo3 - koj tsuas xav tau GoPiGo3 thiab qhov ntawd yog nws.
4. Kab Follower lem - cov no tuaj yeem rub tawm los ntawm no.

Tau txais GoPiGo3 Raspberry Pi Robot Ntawm no

Kauj Ruam 2: Tsim Koj Txoj Kev

Qhov no yuav siv sijhawm me ntsis. Yeej, mus ntawm no, rub tawm PDF uas muaj cov qauv, thiab luam cov lej hauv qab no txhawm rau koj txhawm rau tsim cov kab uas pom lossis tsuas yog tsim koj tus kheej thiab hla cov kauj ruam no ntev dua:

• 12 pobzeb ntawm hom #1.
• 5 nplais ntawm hom #2.
• 3 tus qauv ntawm cov nplais hom #5.
• 3 tus qauv ntawm pobzeb hom #6 - ntawm no, koj yuav xaus nrog ib pobzeb ntxiv.

Tom ntej no, txiav thiab kaw lawv thiab sim ua kom haum raws li hauv daim duab saum toj no. Nco ntsoov tias muaj cov nplais nyob rau sab saum toj -sab xis ntawm hom #1 uas sib tshooj nrog lwm tus tib yam - yog li nws yog, yog li tsis txhob poob siab thaum koj pom qhov ntawd.

Tsis tas li, yog qee qhov, lub tshuab luam ntawv tsis muaj lub tshuab luam ntawv txaus thiab cov xim dub tau raug ntxuav tawm, koj yuav xav pleev xim cov kab dub nrog tus cim kom ua rau lawv sawv tawm rau cov kab hauv qab. Nws tsis yog qhov tsim nyog kiag li, tab sis nws tuaj yeem ua rau cov kab hauv qab yog qhov tseeb dua.

Kauj Ruam 3: Xaiv Kab Follower

Koj yuav tsum xaiv cov kab uas koj xav mus nrog: tus liab lossis tus dub.

Txawm li cas los xij, cov kab hauv qab yuav tsum tau taw qhia ib yam li hauv daim duab saum toj no raws li tau piav qhia hauv cov ntaub ntawv ib yam nkaus (ReadTheDocs cov ntaub ntawv ntawm DI_Sensors & GoPiGo3).

Kauj Ruam 4: Txhim Kho Kab Follower

Cov kab hauv qab yuav tsum tau zaum zoo li ntawd ntawm GoPiGo3. Cov Kab Follower Cov Khoom los ntawm Dexter Industries los nrog ob peb yam ntxiv xws li spacers, txiv ntseej, thiab tshuab ntxhua khaub ncaws los pab koj kho nws ntawm GoPiGo3.

Tsis hais txog kab kab twg uas koj tau txais, koj yuav pom 40mm spacers hauv koj cov khoom siv. Yog li koj tuaj yeem so qhov chaw nruab nrab ntawm GoPiGo3 thiab hauv pem teb yuav tsim nyog (uas yog kwv yees li 2-3 hli).

Nco tseg: Hauv daim duab saum toj no, koj yuav pom tias kuv tau siv qee qhov txiv ntoo los ua tus spacer txawm tias ntev dua thiab qhov ntawd yog vim kuv tsis siv cov spacers tus qauv uas tuaj hauv Kab Follower cov khoom - kuv yog 30 hli thiab lawv yuav tsum tau 40 hli

Kauj Ruam 5: Calibrating Line Follower

Txhawm rau ntsuas cov kab hauv qab, tsis hais tus twg koj tab tom siv, pib nrog txhim kho cov tsev qiv ntawv tsim nyog ntawm Raspberry Pi. Koj tuaj yeem ua qhov no ntawm Raspbian duab lossis Raspbian Rau Neeg Hlau. Ua ntej tshaj plaws, khiav cov lus txib no:

curl -kL dexterindustries.com/update_gopigo3 | tsoo

curl -kL dexterindustries.com/update_sensors | tsoo

Reboot thiab tom qab ntawd hloov cov npe rau

/tsev/pi/Dexter/GoPiGo3/Cov Haujlwm/PIDLineFollower

Tom qab ntawd khiav qhov program hauv cov npe zoo li

nab hab sej pid_tuner.py

Tom ntej no, tso tus neeg hlau rau ntawm qhov chaw dawb (nrog cov kab hauv qab txuas nrog thiab txuas nrog rau I2C chaw nres nkoj) thiab nias lub pob kom tsim nyog los ntsuas nws. Koj yuav tsum tau txheeb xyuas cov ntawv qhia zaub mov thiab pom lub pob twg cuam tshuam rau "Calibrate cov kab hauv qab ntawm lub ntsej muag dawb". Zoo ib yam rau cov xim dub.

Txoj haujlwm tuaj yeem pom ntawm GitHub ntawm no.

Ib zaug ntsuas, qhov txiaj ntsig tau khaws cia txawm tias thaum Raspberry Pi mus dhau lub zog hloov pauv. Nws tsuas yog yuav tsum tau rov ntsuas dua thaum cov kab hauv qab tau hloov pauv nrog lwm qhov ntawm lossis thaum txoj kev cov xim hloov pauv ntau.

Kauj Ruam 6: Teeb tsa PD Tau Txais

Qhov Zoo Tshaj Plaws rau Kab Follower

Siv cov nyees khawm tsim nyog piav qhia hauv cov ntawv qhia zaub mov, hloov kho PD tau txais txiaj ntsig rau cov kab hauv qab uas tsim nyog uas koj tab tom siv.

Black Line Follower Cov

Txog cov kab hauv qab no, cov hauv qab no ua haujlwm tau zoo tshaj plaws rau GoPiGo3:

1. Base Ceev = 300
2. Loop Zaus = 100
3. NPV = 1100
4. Koj = 0
5. Kd = 1300 Nws

Lub hauv paus nrawm thiab Loop Zaus yuav tsum tau hloov ncaj qha hauv txoj cai.

Red Line Follower

Rau cov kab qub hauv qab, cov hauv qab no ua haujlwm tau zoo tshaj plaws rau GoPiGo3:

1. Base Ceev = 300
2. Loop Zaus = 30
3. NPV = 4200
4. Koj = 0
5. Kd = 2500 hli

Lub hauv paus nrawm thiab Loop Zaus yuav tsum tau hloov ncaj qha hauv txoj cai.