DIY Linefollower PCB: 7 Kauj Ruam

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

Hauv cov lus qhia no, kuv yuav qhia koj li cas kuv tau tsim thiab tsim kuv thawj kab ntawv teev npe PCB.

Tus Linefollower yuav tau taug kev ncig ib puag ncig parcour saum toj ntawm qhov nrawm ntawm 0.7 m/s.

Txog qhov haujlwm, Kuv tau xaiv ATMEGA 32u4 AU ua tus tswj hwm vim nws yooj yim thiab yooj yim rau program nws. Cov ntsuas siv los ua raws kab yog 6 lub kho qhov muag pom ntawm hom QRE1113GR. Cov no yog cov ntsuas sib piv vim tias peb siv lub npe ATMEGA, peb tau txwv rau 6 lub cim, vim tias lub nti no tsuas muaj 6 qhov chaw sib piv.

Peb lub cav yog hlau hlau 6V DC lub cev muaj zog. Cov no yog cov cav me me, tab sis muaj zog txaus rau qhov siv no. Cov cav no yuav siv los ntawm H-Bridge, DRV8833PWP, siv PWM.

Nov yog lub plawv ntawm peb Linefollower. Lwm cov ntsiab lus yuav piav qhia hauv qab no.

Kauj Ruam 1: Tsim Tus Qauv

Txhawm rau tsim cov phiaj xwm thiab PCB, Kuv siv EAGLE. Nov yog software dawb los ntawm Autodesk. Nws yog me ntsis ntawm txoj kev kawm nkhaus los siv txoj haujlwm no. Tab sis nws yog software zoo thiab nws yog DAWB:)

Kuv pib los ntawm kev xa cov ATMEGA. Nws yog ib qho tseem ceeb los tshuaj xyuas cov ntaub ntawv ntawm cov nti no. Ntau yam khoom siv xav tau los siv cov nti no tau piav qhia hauv cov ntawv teev npe. Tom qab ntshuam tag nrho cov khoom siv xav tau, Kuv pib ntshuam H-choj thiab cov cim ntsuas. Ib zaug ntxiv, nws yog ib qho tseem ceeb los tshuaj xyuas cov ntaub ntawv no kom paub yuav ua li cas txuas lawv mus rau tus pin ntawm ATMEGA thiab cov khoom siv dab tsi (resistors, capacitors …) lawv xav tau.

Kuv ntxiv cov ntaub ntawv nrog txhua yam khoom siv.

Kauj Ruam 2: Tsim PCB

Kuv tus PCB yog ob tog. Qhov no ua rau nws yooj yim dua los tso ntau yam ntawm cov khoom siv ntawm qhov hneev taw me me.

Ib zaug ntxiv, tsim qhov no tsis yooj yim, nws yuav siv sijhawm los kawm siv cov software no, tab sis muaj ntau ntau cov vis dis aus qhia hauv youtube los pab koj mus.

Nco ntsoov tias txhua tus pin ntawm tus tswj lossis cov khoom siv txuas nrog qee yam thiab txhua txoj hauv kev nws xav tau dav.

Kauj Ruam 3: Txiav txim rau PCB

Nrog cov qauv tsim tiav, koj npaj tau xaj!

Ua ntej koj yuav tau xa cov qauv tsim tawm raws li cov ntaub ntawv gerber.

Kuv xaj kuv li PCB ntawm JLCPCB.com, uas kuv tuaj yeem pom zoo. Tus nqi ncaj ncees, xa khoom sai thiab cov laug cam zoo.

Kauj Ruam 4: Soldering Koj PCB

Tom qab tau txais PCB's, koj tuaj yeem pib siv tag nrho cov khoom siv ntawm nws.

Cov dej ntws zoo, kev tswj hwm qhov chaw nres tsheb thiab lub PCB tuav tau pom zoo.

Muaj cov vis dis aus zoo hauv youtube hais txog yuav ua li cas thiaj li ua tau cov khoom SMD (Louis Rossman yog tus phab ej ntawm qhov no).

Kauj ruam 5: Flashing Bootloader

Tom qab PCB tau ua tiav qhov muag tau zoo, nws yog lub sijhawm rau nyem lub bootloader rau koj lub ATMEGA.

Ua raws qhov txuas no los pab koj hla qhov no:

Kauj Ruam 6: Programming Linefollower

Tom qab flashing lub bootloader, koj yuav tuaj yeem nkag mus rau kab hauv qab hauv Arduino IDE.

Kuv tau sau qhov program hauv qab no rau tus ua raws kab ntawv.

Nws siv tus tswj PID kom muaj peev xwm ua raws txoj kab zoo li sai tau.

Kauj Ruam 7: Kho PID Tus Tswj

Txhawm rau teeb tsa tus tswj PID, muaj qee qhov txiaj ntsig los teeb tsa.

Kp: qhov no yog kev nthuav dav, qhov no tswj hwm qhov nrawm uas tus neeg siv kab ntawv tau teb rau qhov ua yuam kev. Txhawm rau teeb tsa PID tus tswj hwm nws tau pom zoo kom ze li sai tau rau lub zog ruaj khov los ntawm kev teeb tsa tsuas yog Kp tus nqi.

Ki: Qhov no suav nrog qhov ua yuam kev thiab ntawm no, nws yuav kho qhov yuam kev ua phem heev. Tom qab teeb tsa Kp, Ki tuaj yeem teeb tsa, Kp yuav tsum txo qis hauv qhov xwm txheej ib txwm kom muaj peev xwm muaj kev ruaj khov nrog Ki ntxiv.

Kd: Qhov no txawv qhov ua yuam kev. Yog hais tias tus linefollower yog oscillating, Kd yuav tsum tau nce kom txog thaum nws tsis oscillating.