Yob thiab Suab Axis Gimbal rau GoPro Siv Arduino - Servo thiab MPU6050 Gyro: 4 Kauj Ruam

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

Cov lus qhia no tau tsim los ua kom tiav ntawm txoj haujlwm xav tau ntawm Makecourse ntawm University of South Florida (www.makecourse.com)

Lub hom phiaj ntawm txoj haujlwm no yog tsim kom muaj 3-axis Gimbal rau GoPro los ntawm kev siv Arduino nano + 3 servo motors + MPU6050 gyro/accelerometer. Hauv txoj haujlwm no, kuv tau tswj 2-axis (Yob thiab yaw) los ntawm kev siv MPU6050 gyro/accelerometer, tus thib peb-axis (yaw) raug tswj nyob deb thiab ua haujlwm los ntawm kev pab ntawm HC-05 thiab Arduino BlueControl app uas yog hauv Android App Store.

Txoj haujlwm no tseem suav nrog txhua qhov 3D tsim cov ntaub ntawv ntawm cov khoom siv kho tshuab ntawm Gimbal. Kuv qhia.stl cov ntaub ntawv kom yooj yim 3D luam ntawv thiab tsim 3D cov ntaub ntawv hauv qab.

Thaum pib ntawm kuv txoj haujlwm, kuv lub tswv yim yog tsim 3-axis gimbal nrog 3 lub cav tsis txhuam, vim tias lub cav txhuam tsis txhuam yog du thiab teb tau zoo dua piv rau servo motors. Cov tshuab tsis txhuam txhuam tau siv rau hauv daim ntawv thov nrawm, yog li peb tuaj yeem kho qhov nrawm ntawm lub cav yuav ESC (tus tswj). Tab sis kom muaj peev xwm siv lub cav tsis txhuam hauv Gimbal qhov project, Kuv paub tias kuv yuav tsum tsav lub cav tsis txhuam zoo li servo. Hauv servo motors, txoj haujlwm ntawm lub cev muaj zog tau paub. Tab sis hauv lub tshuab tsis txhuam, peb tsis paub txoj haujlwm ntawm lub cav, yog li nws yog qhov tsis zoo ntawm lub cav tsis txhuam uas kuv tsis tuaj yeem txiav txim siab nws yuav tsav nws li cas. Thaum kawg kuv txiav txim siab siv 3 MG995 servo motors rau lub zog siab xav tau Gimbal project. Kuv tswj 2 lub cav servo rau yob thiab suab axis los ntawm kev siv MPU6050 gyro, thiab kuv tswj yaw axis servo motor los ntawm kev siv HC-05 bluetooth thiab Android app.

Kauj Ruam 1: Cheeb Tsam

Cheebtsam uas kuv siv hauv txoj haujlwm no;

1- Arduino Nano (1 chav nyob) (Micro usb)

2- MG995 Servo motors (3 chav nyob)

3- GY-521 MPU6050 3 axis Accelerometer/Gyroscope (1 chav)

4- HC-05 Bluetooth Module (Txhawm rau tswj yaw (Servo3) axis nyob deb)

4- 5V micro usb portable them nyiaj

Kauj Ruam 2: Siv 3 Servo Motors + MPU6050 Gyro + HC-05

Servo thaiv

Servo1 (Yob), Servo2 (Suab), Servo3 (Yaw)

Servo motors muaj 3 xov hlau: VCC (liab), GND (xim av lossis xim dub), PWM (daj).

D3 => Servo1 PWM (daj hlau)

D4 => Servo2 PWM (daj hlau)

D5 => Servo3 PWM (daj hlau)

5V PIN ntawm Arduino => VCC (liab) ntawm 3 servo motors.

GND PIN ntawm Arduino => GND (xim av lossis xim dub) ntawm 3 servo motors

MPU6050 gyro thaiv

A4 => SDA

A5 => SCL

3.3 V PIN ntawm Arduino => VCC ntawm MPU6050

GND PIN ntawm Arduino => GND ntawm MPU6050

HC-05 Bluetooth txuas

D9 => TX

D10 => RX

3.3 V PIN ntawm Arduino => VCC ntawm HC-05 Bluetooth

GND PIN ntawm Arduino => GND ntawm HC-05 Bluetooth

Kauj Ruam 3: Tsim 3D thiab Ua Haujlwm

Kuv ua tiav 3D tsim ntawm Gimbal los ntawm kev siv lwm yam Gimbals uas tau muag hauv khw. Muaj peb lub hauv paus tseem ceeb uas tig nrog servo motors. Kuv tsim lub GoPro mount uas haum rau nws qhov loj me.

Cov ntaub ntawv.step ntawm txhua qhov tsim 3D tau muab qhia rau hauv qab kom pab kho kom yooj yim dua.

Kauj Ruam 4: Tswj Lub Tshuab

Lub ntsiab lus tseem ceeb ntawm kuv txoj haujlwm Gimbal siv Quaternion kev sib hloov uas yog lwm txoj hauv kev rau Euler cov ces kaum. Kuv siv lub tsev qiv ntawv pabcuam held_3dmath.h siv los ua kom muaj kev txav mus los yooj yim los ntawm kev siv Quaternion algorithm. Txawm hais tias Pitch axis cov lus teb tau yooj yim, Yob axis lag los teb cov lus txav. Los ntawm kev siv Quaternion algorithm, Kuv muaj peev xwm tswj Yob thiab Suab servo motors. Yog tias koj xav siv yaw axis, koj yuav tsum siv MPU6050 thib ob los tswj lub yaw axis. Raws li lwm txoj kev daws teeb meem, Kuv teeb tsa HC-05 thiab tswj yaw axis nyob deb nrog hauv app los ntawm kev siv cov nyees khawm. Hauv txhua qhov nias kom khawm, yaw axis servo tig 10 degree.

Hauv qhov haujlwm no, cov tsev qiv ntawv uas kuv yuav tsum tau ntshuam sab nraud yog raws li hauv qab no;

1- I2Cdev.h // Siv nrog wire.h kom muaj kev sib txuas lus nrog MPU6050

2- "MPU6050_6Axis_MotionApps20.h" // Lub tsev qiv ntawv Gyroscope

3- // Nws tso cai hloov pauv tus lej digital rau hauv RX thiab TX pins (Nws xav tau HC-05 bluetooth module)

4-

5- // Nws tso cai rau kev sib txuas lus nrog I2C cov cuab yeej siv ob tus pin cov ntaub ntawv (SDA thiab SCL) => MPU6050

Txoj cai tseem ceeb yog tsim los ntawm Jeff Rowberg, thiab kuv hloov kho nws raws li kuv qhov haujlwm ua haujlwm thiab tawm tswv yim txhua qhov haujlwm hauv ino file.