Tsheb Submersible: 5 Kauj Ruam

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

**************** Cov lus qhia no tseem yog txoj haujlwm ua haujlwm ****************

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).

Cov Lus Qhia no yuav yog qhov luv luv saib ntawm kev tsim lub submersible tsheb uas kuv tsim thiab tsim rau kuv chav kawm Makecourse ntawm University of South Florida. Hauv Cov Lus Qhia Kuv yuav muab daim nqi ntawm cov ntaub ntawv, cov cai tswj hwm kuv tsim rau Arduino Uno Kuv tau siv, thiab cov ntsiab lus ntawm yuav ua li cas sib sau cov submersible.

Kauj ruam 1: Cov ntaub ntawv

Cov khoom siv hluav taws xob siv qhov twg:

1 x Arduino Uno

1 x mobius action camera

1x mobius ua lub koob yees duab usb-b rau A/V cable

1x teb saib 777 zaub screen

1x turnigy marine 50A ESC (tswj hluav taws xob ceev)

1x turnigy marine programming daim npav

1 x T-Motor Navigator 400kv

1x YEP 20A BEC (roj teeb tshem tawm Circuit)

6x hobby huab tais HK15139 tsis muaj dej tsis zoo

2x parallel T-connector y cov hlua

2 x 18 nti servo txuas txuas

6x 6 nti servo txuas xov hlau

2x 1300mah 3s Lipo roj teeb

2x 2500mah 4s Lipo roj teeb

1x lub zog faib khoom faib khoom nrog ob qho 5v thiab 12v cov khoom tsim kho tas

Cov ntaub ntawv tsim qhov twg:

1x 3/16 nti ntawv ntawm plywood

1 x 6 nti ID ABS lub raj xa khoom

1 x silicone tub

1x tuaj yeem hloov kho lub foob

4x spools ntawm ABS 3D tshuab luam ntawv ntsiabteeb

1x 24 nti tub rau khoom swb

Thaum tshav kub kub ntsws raj

1x 10 taw ntawm scotch hom duraloc velcro

1x JB Weld yas epoxy

1x 6.2 nti txoj kab uas hla acrylic kev ruaj ntseg lub koob yees duab dome

2x IP68 ethernet passthroughs

2x 24 nti cat6 ethernet cable

1x 200 ko taw cat6 ethernet cable

Cov cuab yeej siv yog:

24 x 1/2 nti tooj dag ntoo ntsia hlau

24x ------ screws (suav nrog servos)

Cov cuab yeej siv:

Philip's thiab Ca lub taub hau ntsia hlau tsav tsheb

Allen qhov tseem ceeb teeb

Soldering hlau

Kub phom

3D tshuab luam ntawv (Kuv siv Monoprice Maker Select Plus)

Kauj ruam 2: Programming

Hauv qab no yog cov cai uas tau tsim los tswj lub submersible. Kuv kuj tseem tau txais cov ntaub ntawv.ino kom nws tuaj yeem rub tawm.

Cov cai no tau tsim rau Arduino Uno siv Arduino tus neeg sau ua ke.

/**********************************************************************************************************************************************************************

Tus Sau: Jonah Hwjchim Hnub Tim: 11/9/2018 Lub Hom Phiaj: Tswj Txoj Cai rau Kev Siv Dej Raug Rho Tawm Hauv Lub Nkoj ************************************** ********************************************************** ****** ********************************************************** ****** ************************************/#include // Xws li Servo Library Library Servo roll1; // Tshaj tawm roll1 los ua servo Servo roll2; // Tshaj tawm roll2 los ua ib qho kev pabcuam Servo elev1; // Tshaj tawm qhov siab 1 los ua servo Servo elev2; // Tshaj tawm qhov siab 2 los ua tus pabcuam Servo yaw1; // Tshaj tawm yaw1 los ua servo Servo yaw2; // Tshaj tawm yaw2 los ua servo Servo esc; // Tshaj tawm esc los ua servo

int pot1 = 0; // Intitializing variable pot1 ua tus lej thiab teeb nws sib npaug rau 0 int pot2 = 1; // Intitializing pot2 sib txawv raws li cov lej thiab teeb nws sib npaug rau 2 int pot3 = 2; // Intitializing variable pot3 ua tus lej thiab teeb nws sib npaug rau 4 int pot4 = 3; // Intitializing variable pot4 ua tus lej thiab teeb nws sib npaug rau 5 int val1; // Intitializing variable val1 ua integer int val2; // Intitializing variable val2 ua integer int val3; // Intitializing variable val3 ua integer int val4; // Intitializing variable val4 ua integer int val5; // Intitializing variable val5 ua ib qho integer int val6; // Intitializing variable val6 ua integer int val7; // Intitializing variable val7 ua tus lej int int8; // Intitializing kuj tsis paub meej val8 ua tus lej int mspeed; // Intitializing kuj tsis paub meej mspeed ua tus lej

teeb tsa tsis muaj dab tsi () {// Arduino pib theem pib Serial.begin (9600); // Initializing serial moniter roll1.attach (2); // Txuas servo roll1 rau tus lej digital 2 roll2.attach (3); // Txuas servo roll2 rau tus lej digital 3 elev1.attach (5); // Txuas servo elev1 rau tus lej digital 5 elev2.attach (6); // Txuas servo elev2 rau tus lej digital 6 yaw1.attach (8); // Txuas servo yaw1 rau tus lej digital 8 yaw2.attach (9); // Txuas servo yaw2 rau tus lej digital 9 esc.attach (11); // Txuas servo esc rau tus lej digital 11 roll1.write (90); // Sau ntawv servo roll1 rau nws txoj haujlwm nyob hauv nruab nrab roll2.write (90); // Sau servo roll2 rau nws txoj haujlwm nyob nruab nrab elev1.write (90); // Sau servo elev1 rau nws txoj haujlwm nyob nruab nrab elev2.write (90); // Sau servo elev2 rau nws txoj haujlwm nyob rau hauv yaw1.write (90); // Sau servo yaw1 rau nws txoj haujlwm nyob rau hauv yaw2.write (90); // Sau servo yaw2 rau nws txoj haujlwm nyob nruab nrab esc.write (180); // Sau ntawv servo esc rau nws txoj haujlwm nruab nrab ncua sijhawm (2500); // Tos 2 thib ob esc.write (90); ncua (5000); }

void loop () {// Cov cai tseem ceeb rau lub voj tsis kawg yog (analogRead (pot1) <1 && analogRead (pot2) <1 && analogRead (pot3) <1 && analogRead (pot4) = 485 && val1 <= 540) {// Txheeb xyuas seb puas yog "Joystick" (potentiometer) nyob hauv nruab nrab roll1.write (90); // Sau servo roll1 rau nruab nrab txoj haujlwm roll2.write (90); // Sau servo roll2 rau nruab nrab txoj haujlwm} lwm yam {// Yuav ua li cas yog "Joystick" tsis nyob nruab nrab val1 = daim ntawv qhia (val1, 0, 1023, 10, 170); // Mapping val1 ntawm 10 txog 170 thiab muab rau val1 roll1.write (val1); // Sau servo roll1 rau positon txhais los ntawm val1 roll2.write (val1); // Sau servo roll2 rau positon txhais los ntawm val1}

val2 = analogRead (lauj2); // Nyeem pot2 (analog pin 2) thiab txuag tus nqi li val2 yog (val2> = 485 && val2 <= 540) {// Txheeb xyuas seb puas muaj "Joystick" (potentiometer) nyob nruab nrab elev1.write (90); // Sau servo elev1 rau nruab nrab txoj haujlwm elev2.write (90); // Sau servo elev2 rau nruab nrab txoj haujlwm} ntxiv {// Yuav ua li cas yog "Joystick" tsis nyob nruab nrab val3 = daim ntawv qhia (val2, 0, 1023, 10, 170); // Mapping val2 los ntawm 10 txog 170 thiab muab rau val3 val4 = daim ntawv qhia (val2, 0, 1023, 170, 10); // Mapping val2 ntawm 170 txog 10 thiab muab rau val4 elev1.write (val3); // Sau servo elev1 rau positon txhais los ntawm val3 elev2.write (val4); // Sau servo elev2 rau positon txhais los ntawm val4}

val5 = analogRead (lauj 3); // Nyeem pot3 (analog pin 4) thiab txuag tus nqi li val5 yog (val5> = 485 && val5 <= 540) {// Txheeb xyuas seb puas muaj "Joystick" (potentiometer) nyob hauv nruab nrab yaw1.write (90); // Sau servo yaw1 rau nruab nrab txoj haujlwm yaw2.write (90); // Sau servo yaw2 rau nruab nrab txoj haujlwm} lwm {{Yuav ua li cas yog tias "Joystick" tsis nyob nruab nrab val6 = daim ntawv qhia (val5, 0, 1023, 10, 170); // Mapping val5 los ntawm 10 txog 170 thiab muab rau val6 val7 = daim ntawv qhia (val5, 0, 1023, 170, 10); // Mapping val5 ntawm 10 txog 170 thiab muab rau val7 yaw1.write (val6); // Sau servo yaw1 rau positon txhais los ntawm val6 yaw2.write (val7); // Sau servo yaw2 rau positon txhais los ntawm val7}

val8 = analogRead (lauj 4); // Nyeem pot4 (tus lej sib piv 5) thiab txuag tus nqi li val8 yog (val8> 470 && val8 80 && val8 <80) || (mspeed80)) {// Txheeb xyuas seb lub cav puas yuav hloov qhov kev taw qhia esc.write (80); ncua (1000); // Tos 1000 milliseconds} esc.write (val8); // Sau servo esc kom nrawm txhais los ntawm val8 mspeed = val8; // Khaws qhov ceev tam sim no rau kev sib piv}} Serial.print ("qhov muag"); // Siv Serial Print los qhia lo lus "Throttle" Serial.println (val8); // Siv Serial Print los qhia qhov muaj nuj nqis uas qhib qhov rooj rau Serial.print ("yob"); // Siv Serial Print los qhia lo lus "Roll" Serial.println (val1); // Siv Serial Print los qhia tus nqi uas yob tau teeb rau Serial.print ("pitch"); // Siv Serial Print los qhia lo lus "Pitch" Serial.println (val3); // Siv Serial Print los qhia tus nqi uas pitch1 tau teeb tsa Serial.println (val4); // Siv Serial Print los qhia tus nqi uas pitch2 tau teeb tsa Serial.print ("yaw"); // Siv Serial Print los qhia lo lus "Yaw" Serial.println (val6); // Siv Serial Print los qhia tus nqi uas yaw1 tau teeb tsa Serial.println (val7); // Siv Serial Print los qhia tus nqi uas yaw2 tau teeb tsa rau}

Kauj ruam 3: Circuitry

Txuas nrog yog daim duab ntawm lub Circuit Court ntawm-board lub submersible.

Kuv tau tsim ib txoj cai tiv thaiv rau Arduino kom yooj yim rau kuv cov xov hlau. Kuv tau tshaj tawm Eagle Schematic & Board cov ntaub ntawv rau daim ntaub thaiv. Kuv siv LPKF S63 los ua lub rooj tsavxwm. Cov Servos nyob rau pem hauv ntej uas tswj cov hlua yuav raug ntsaws rau hauv Arduino

txuas nrog yog daim duab ntawm lub Circuit Court hauv tus tswj.

Kauj Ruam 4: 3D Luam Qhov Chaw

Kuv Luam Tawm tag nrho cov ntaub ntawv no ntawm kuv Monoprice Maker Select Plus. Kuv siv Esun ABS 1.75mm Filament. Kuv qhov chaw luam tawm yog 105 degree C rau lub txaj txaj luam ntawv thiab thiab 255 degrees C rau lub tshuab extruder kub. Tsuas yog 1 ntawm txhua ntu xav tau tshwj tsis yog tias koj yuav xav tau 6 daim ntawv theej ntawm tis pem hauv ntej. Nco tseg cov ntu no tau luam tawm nrog phab ntsa tuab teev rau 1000mm. Qhov no tau ua tiav kom cov khoom yuav raug luam tawm nrog 100% ntxiv yog li lawv yuav tsis zoo.

Kauj ruam 5: Sib dhos

************************************* Tuaj sai sai no *************** *******************