Kab Follower Neeg Hlau: 11 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27

Kuv tau ua kab raws cov neeg hlau nrog PIC16F84A microprocessor nruab nrog 4 IR sensors. Tus neeg hlau no tuaj yeem khiav ntawm kab dub thiab dawb.

Kauj Ruam 1: Thawj Kauj Ruam

Ua ntej txhua yam koj yuav tsum paub yuav ua li cas thiaj ua Luam Luam Circuit Board thiab yuav ua li cas muab cov khoom sib txuas rau ntawm nws. Koj kuj yuav tsum paub yuav ua haujlwm li cas PIC16F84A IC. Nov yog cov kab txuas rau cov lus qhia zoo txog kev ua PCB thiab Kev Siv Tshuaj:

• (Feem ntau) tsim PCB yooj yim
• Yuav Siv Li Cas

Kauj Ruam 2: Yam Koj Xav Tau

Txhawm rau ua tus neeg hlau no koj xav tau cov khoom hauv qab no:

• Qee pawg tooj liab
• Cov ntawv luam tawm
• Pom
• Ntawv xeb
• Hlau
• Cov kab mob hauv Circuit Court
• 1mm laum
• Roj roj
• Soldering hlau
• Soldering hlau
• Hlau txiav
• Ib co xaim
• 2 x Log yas
• 1x Spherical pem hauv ntej log
• Kua nplaum

Cov khoom siv hauv Circuit Court:

• 4 AA roj teeb tuav
• U1 = PIC16F84A Microcontroller + Qhov (Socket)
• U2 = 7805 = 5V Voltage Regulator
• U3 = LM324 Sib Piv
• U4 = L298 Tsav Tsav Tsheb + Txhuas Radiator
• XT = 4MHz Crystal
• C1 = C2 = 22pF Ceramic Capacitors
• C3 = 100uF Electrolyte Capacitor
• C4 = C5 = 100nF Ceramic Capacitors (104)
• D = 8 x 1N4148 Diodes
• R1 = 4.7K Resistor
• R2 = R3 = 10K Resistors
• R4 = R5 = R6 = R7 = 1K Resistors
• R8 = 10K Resistor
• R9 = 1K Resistor
• R10 = R11 = 47K Resistors
• R12 = R13 = R14 = R15 = 100ohm Resistors
• R16 = R17 = R18 = R19 = 10K Resistors
• RP = LP = MP = FP = 10K Potentiometers
• L Tsav = R Tsav = 60 rpm MiniMotors nrog Gearbox (6V)
• R Sensor = L Sensor = M Sensor = F Sensor = TCRT5000 Infrared Sensors
• ModeLED = LBLED = RBLED = LED liab liab
• LFLED = RFLED = LEDs ntsuab me
• Hom = Sab laug = Txoj Cai = Cov Me Me
• SW = Toggle Hloov = On/Off Switch
• J = Jumper = Ib daim hlau

Kauj Ruam 3: Ua Lub Rooj Tswjhwm Saib Xyuas Circuit

Luam cov kab hluav taws xob ntawm daim ntawv ci nrog lub tshuab luam ntawv laser. Txiav cov laug cam tooj liab, tshem lawv nrog cov ntawv xuab zeb thiab muab cov ntawv luam tawm rau lawv. Tom qab nias cov hlau kub ntawm cov laug cam tshem tawm cov ntawv thiab ntub cov laug cam hauv cov kua qaub, tos kom pom tooj liab ploj mus. Ntxuav cov laug cam, laum lub qhov thiab tshem lawv nrog cov ntawv xuab zeb.

* Kuv tsuas muaj daim duab cim ntawm tus neeg hlau uas koj tuaj yeem pom ntawm no.

Kauj Ruam 4: Cov Khoom Siv Hluav Taws Xob

Luag txhua qhov ntawm daim txiag. Ceev faj ntawm qhov qhia kom raug ntawm cov khoom. Siv lub qhov (socket) rau PIC16F84A IC. Cov laug lub cav thiab lub roj teeb nyob rau sab nraum qab ntawm Lub Rooj Sab Laj thiab muab qee daim ntawv tso rau ib puag ncig lub cav kom tsis txhob muaj kev sib cuag uas tsis tau xav txog hauv Circuit Court. Cuab Yeej C4 thiab C5 sab xis ntawm lub cav. Muab ib daim ntawv ntawm cov ceg potentiometers kom tsis txhob muaj kev sib cuag.

Kauj Ruam 5: Txhuam Txhua Qhov Ua Ke

Txuas cov davhlau ya nyob twg nrog tib lub npe ntawm cov laug cam ua ke los ntawm qee cov xov hlau (Koj tuaj yeem siv ob txhais ceg ntxiv ntawm lwm yam khoom siv). Solder Back board rau saum lub Rooj Tswjhwm Saib. Solder Pem Hauv Ntej Pawg rau Sab saum toj. Khoov cov xov hlau thiab muab peb lub rooj zaum tso rau ntawm lub roj teeb thiab cov laug laug Lub Rooj Tswjhwm Saib Tom Qab thiab Lub Rooj Sab Laj Rov Qab mus rau Lub Rooj Sab Laj Hauv Qab (Siv qee cov xov hlau hloov pauv tau ntev los hu rau lub davhlau ya nyob twg ntawm Lub Rooj Sab Nraud thiab Hauv Qab). Txuas + lub davhlau ya nyob twg rau saum lub Rooj Tswjhwm Saib rau cov tuav lub roj teeb + tus ncej.

Kauj Ruam 6: Log

Txuas 2 lub log yas rau lub cav thiab npog lawv nrog cov hlua roj hmab. Txuas lub log mus rau Lub Rooj Sab Laj tom ntej ntawm tus neeg hlau nrog qee cov kua nplaum, Kuv tau siv LED tuag ua lub log pem hauv ntej tab sis nws ua rau tus neeg hlau txav qeeb thiab kuv pom zoo kom siv lub log kheej kheej. Npog cov iav nrog cov ntawv yas nyias.

Kauj Ruam 7: Programming Robot

Rub lub program neeg hlau (Code.hex) thiab teeb tsa PIC16F84A IC. Teeb lo lus teeb tsa rau 0x3FF2. Cov cai tau sau thiab suav ua los ntawm "PIC Basic PRO".

Kauj ruam 8: RUN

Muab 4 AA roj teeb tso rau hauv tus tuav lub roj teeb, ua ib txoj hauv kev, thiab qhib lub neeg hlau. Yog tias tus neeg hlau tsis ua haujlwm txheeb xyuas kom zoo. Tam sim no koj yuav tsum hloov kho cov peev xwm rau cov neeg hlau tuaj yeem txheeb xyuas thaj tsam dub thiab dawb. Tig tag nrho cov hwj huam mus rau txoj haujlwm sab laug ces tig rov qab txog 90 degrees rau sab xis. Tuav tus neeg hlau ntawm kab, txav nws hla qhov tig yog lub xeev lub cev muaj zog tsis hloov pauv tus nqi potentiometers. Tam sim no tso tus neeg hlau ntawm txoj hauv kev kom ua raws nws.

Kauj Ruam 9: Kev txav mus los

Koj tuaj yeem txhais cov kev cai txav mus rau tus neeg hlau los ntawm nias lub khawm khawm. Thaum Hom LED tawm ntawm tus neeg hlau yog ntawm nws lub xeev tsis raug. Tom qab nias lub khawm khawm Hom LED qhib, tam sim no koj tuaj yeem tuav tus neeg hlau nyob hauv ntau lub xeev thiab hloov lub xeev ntawm lub tshuab hluav taws xob nyob ntawm lawv lub xeev tsis raug los ntawm Sab laug thiab Txoj Cai khawm. Tom qab nias lub khawm khawm dua Hom LED pib ntsais muag, tam sim no koj tuaj yeem tuav tus neeg hlau nyob hauv ntau lub xeev thiab hloov lub xeev ntawm lub tshuab hluav taws xob nyob ntawm qhov tseem ceeb ntawm lub ntsuas cua los ntawm Sab laug thiab Txoj Cai khawm. Txhawm rau hloov mus rau lub xeev qub, nias hom khawm dua. Muaj plaub lub xeev rau lub cav:

1. Lub xeev tsis raug
2. Forward (Ntsuab LED nyob)
3. Rov qab (Liab LED nyob)
4. Nres (Ob Lub Ntsuab thiab Liab LEDs nyob)

Kauj Ruam 10: Nws Ua Haujlwm Li Cas?

Tus neeg hlau no muaj 4 tus IR sensors uas txheeb xyuas txoj hauv kev. Yog tias Txoj Cai thiab Sab laug muaj qhov zoo ib yam thiab qhov txiaj ntsig ntawm lawv sib txawv los ntawm Nruab Nrab lossis Pem Hauv Ntej lub ntsej muag cov neeg hlau nyob ntawm kab thiab lub cev muaj zog khiav mus rau tom ntej. Lwm tus neeg hlau tawm ntawm kab yog li tus neeg hlau txav mus txog ib qho ntawm cov khoom siv sab tus nqi hloov pauv tom qab ntawd nws tig mus rau qhov kev taw qhia uas nws tus nqi hloov pauv. Koj tuaj yeem nyeem qhov program qhov chaws (Code.bas) kom nkag siab zoo dua.

Kauj ruam 11: Koj Ua Dab Tsi

Utkarsh Verma ua tib lub neeg hlau nrog ob peb qhov kev hloov kho, nws qhia nws txoj haujlwm ntawm https://github.com/TheProtoElectricEffect/LineFollower. Kuv qhia tshuaj xyuas nws txoj haujlwm ua ntej pib ua koj tus kheej neeg hlau. Utkarsh, ua tsaug rau koj qhia koj qhov project.