Cov txheej txheem:
- Kauj Ruam 1: Daim duab Circuit Court
- Kauj Ruam 2: Tsim PWM Cov Cim ntawm GPIO Pin rau Servo Tsav Tswj
Video: PIC Microcontroller Raws Robotic Arm: 6 Kauj Ruam (nrog Duab)
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27
Los ntawm kev sib dhos kab ntawm kev tsim tsheb hauv kev lag luam mus rau lub tshuab ua haujlwm telesurgery hauv qhov chaw, Robotic Arms yuav tsum pom nyob txhua qhov chaw. Cov txheej txheem ntawm cov neeg hlau no zoo ib yam li tib neeg uas tuaj yeem ua haujlwm rau cov haujlwm zoo sib xws thiab muaj peev xwm nce ntxiv. Lawv tuaj yeem siv los ua qhov rov ua dua sai dua thiab raug dua tib neeg lossis tuaj yeem siv hauv ib puag ncig hnyav uas tsis muaj kev phom sij rau tib neeg lub neej. Peb twb tau tsim Cov Ntaub Ntawv thiab Ua Si Robotic Arm siv Arduino uas tuaj yeem raug cob qhia los ua ib txoj haujlwm tshwj xeeb thiab ua kom rov qab mus ib txhis.
Hauv qhov kev qhia no, peb yuav siv tus txheej txheem kev lag luam PIC16F877A 8-ntsis Microcontroller los tswj tib lub caj npab neeg hlau nrog lub zog loj. Qhov kev sib tw nrog txoj haujlwm no yog PIC16F877A tsuas muaj ob lub PWN tus pin muaj peev xwm, tab sis peb xav tau kev tswj hwm txog 5 servo motors rau peb tus neeg hlau uas xav tau 5 tus PWM tus pin. Yog li peb yuav tsum siv GPIO pins thiab tsim PWM cov cim ntawm PIC GPIO pins siv lub sijhawm cuam tshuam. Tam sim no, tau kawg, peb tuaj yeem hloov kho kom zoo dua microcontroller lossis siv de-multiplexer IC los ua kom yooj yim dua ntawm no. Tab sis tseem, nws tsim nyog muab txoj haujlwm no sim rau kev kawm paub.
Tus qauv siv tshuab ntawm caj npab neeg hlau uas kuv tab tom siv hauv txoj haujlwm no tau ua tiav 3D luam tawm rau kuv qhov haujlwm yav dhau los; koj tuaj yeem pom cov ntaub ntawv tsim tiav thiab txheej txheem sib dhos ntawm no. Xwb, yog tias koj tsis muaj lub tshuab luam ntawv 3D koj tseem tuaj yeem tsim Robotic Arm yooj yim siv cov duab los qhia raws li qhia hauv kab ntawv txuas. Piv txwv tias koj muaj qee yam tau tuav ntawm koj lub caj npab neeg hlau cia mus rau hauv txoj haujlwm.
Kauj Ruam 1: Daim duab Circuit Court
Daim duab kab duab ua tiav rau qhov PIC Microcontroller raws li Robotic Arm tau qhia hauv qab no. Cov lej tau kos siv EasyEDA.
Daim duab qhia chaw yog yooj yim zoo nkauj; qhov haujlwm ua tiav yog siv los ntawm 12V adapter. Qhov 12V no tau hloov pauv mus rau +5V siv ob 7805 Tus tswj hwm qhov hluav taws xob. Ib qho yog sau ua +5V thiab lwm qhov yog sau ua +5V (2). Qhov laj thawj kom muaj ob tus tswj hwm yog tias thaum lub servo tig nws rub tawm ntau qhov tam sim no uas tsim qhov poob qis. Qhov kev poob qis no ua rau PIC rov pib nws tus kheej, yog li peb tsis tuaj yeem ua haujlwm PIC thiab servo motors ntawm tib +5V kev tsheb nqaj hlau. Yog li ib daim ntawv sau ua +5V tau siv los ua lub zog PIC Microcontroller, LCD thiab Potentiometers thiab cais cov tswj kev tso tawm uas tau sau tias yog +5V (2) yog siv los txhawb lub zog servo motors.
Tsib tus pin pins ntawm cov potentiometers uas muab qhov hluav taws xob sib txawv los ntawm 0V txog 5V txuas nrog cov pins sib piv An0 rau AN4 ntawm PIC. Txij li thaum peb tab tom npaj yuav siv sijhawm los tsim PWM cov servo motors tuaj yeem txuas nrog rau txhua tus GPIO tus pin. Kuv tau xaiv pins daim ntawv RD2 rau RD6 rau lub cav servo, tab sis nws tuaj yeem yog GPIO ntawm qhov koj xaiv.
Txij li qhov haujlwm cuam tshuam nrog ntau qhov kev debugging, 16x2 LCD zaub kuj tseem cuam tshuam rau portB ntawm PIC. Qhov no yuav tso tawm lub luag haujlwm ntawm lub cav servo uas tau raug tswj. Sib nrug los ntawm qhov no kuv kuj tseem txuas txuas rau txhua GPIO thiab analog pins, tsuas yog thaum muaj cov cim xav tau cuam tshuam rau yav tom ntej. Thaum kawg kuv kuj tseem txuas tus programmer tus pin H1 rau ncaj qha program PIC nrog pickit3 siv ICSP txoj haujlwm xaiv.
Kauj Ruam 2: Tsim PWM Cov Cim ntawm GPIO Pin rau Servo Tsav Tswj
"chaw thau khoom =" tub nkeeg ">
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