Rasmus Klump - Pixel Art Pancakes: 5 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Koj puas tau xav kom muaj caj npab neeg hlau ua rau koj pancakes? Koj puas nyiam pixel kos duab? Tam sim no koj tuaj yeem muaj ob qho tib si! Nrog qhov teeb tsa yooj yim yooj yim no, koj tuaj yeem ua rau cov neeg hlau caj npab kos duab pixel pancakes rau koj thiab txawm tias tig lawv.

Lub tswv yim

Lub tswv yim yog siv kinematic thiab kev sib koom ua ke, txhawm rau ua kom cov neeg hlau rub cov pancakes. Hauv qhov no, peb tab tom kos duab 8x8 pixel pancakes, tab sis koj tuaj yeem ua ntau pixel raws li koj xav tau.

Peb tab tom siv 4 xim txiv hmab txiv ntoo sib txawv los zas lub khob noom cookie, thiab 1 raj rau txhua xim. Koj tuaj yeem ua ntau xim raws li koj xav tau

Kauj Ruam 1: Cheeb Tsam

Kho vajtse:

• Peb tab tom siv WidowX neeg hlau caj npab (https://www.trossenrobotics.com/widowxrobotarm)
• 4 lub tshuab xa khoom uas haum rau WidowX tuav (https://www.amazon.com/Refill-Empty-Tubes-Cosmetic-Containers/dp/B00NZRCCO2)
• Ib qho 50x4cm daim ntawm cov ntoo ntoo qhib ntoo ua tus tuav khoom
• Ib daim 40x60cm daim ntoo ply ua lub hauv paus rau WidowX thiab tus tuav lub tshuab xa khoom
• ib daim 4x8cm ntawm cov ntoo ntoo rau lub palet riam
• 1 portable hob
• Fry lauj kaub
• Paletknife

Software

• Armlink
• InterbotiXArmPlayback
• Arduino IDE 1.0.6
• Arbotix tsev qiv ntawv

Kauj ruam 2: Teeb

Ua ntej, peb yuav tsum kho peb WidowX rau cov plywood, rau lub hauv paus ruaj khov (saib daim duab 1). Tom qab ntawd peb yuav kho lub ntoo qhib ntoo rau ntawm plywood. Tom qab ntawd laum 4 qhov nrog tsawg kawg 5 cm nruab nrab ntawm lawv, txhawm rau kom paub tseeb tias WidowX tsis tsoo lwm lub tshuab xa khoom hla, thaum thawb lub tshuab xa khoom tshiab (saib daim duab 2. Tam sim no ua lub qhov nyob hauv 8x4cm ntoo, rau spatula (saib daim duab 3) Spatula xav tau nyob hauv txoj haujlwm, yog WidowX tuaj yeem tuav nws.

Peb pom tias peb lub tshuab pincher tsis tuaj yeem tiv tshav kub, yog li peb yuav tsum ua kom lub cua sov me me (saib daim duab 4). Nws tau ua los ntawm cov duab los qhia thiab tinfoil, tab sis nws ua haujlwm zoo li ntxim nyiam.

Kauj ruam 3: Calibrating

Tam sim no peb tau teeb tsa tag nrho cov khoom, nws lub sijhawm rau

ntsuas qhov WidowX. Qhov no yuav siv qee lub sijhawm, tab sis nws tseem ceeb heev kom tau txais cov txiaj ntsig zoo ib yam thaum kawg. Peb tau kawm paub tias koj yuav xav tau rov ntsuas dua los ntawm tus txheej txheem. Qhov no yuav yog vim WidowX tsoo cov khoom, cov cua sov nthuav dav lossis lwm yam hloov pauv.

Txoj kev uas peb ntsuas tus WidowX, yog los ntawm kev siv Arm Link program, txhawm rau nrhiav peb cov ntsiab lus ruaj khov. Siv qhov pib hloov tshiab muaj nuj nqi kom ze rau qhov kho qhov chaw. Tom qab ntawd hloov kho me me thiab hloov kho tshiab, kom txog rau thaum koj txaus siab nrog kho lub ntsiab lus. Tam sim no rov hais dua rau txhua qhov kev txhim kho.

Peb yuav tsum nrhiav tag nrho peb cov ntsiab lus ruaj khov. Peb tau

· 4 dispensers

· Txoj cai saum 4 lub dispensers

· Spatula (thaum nws nyob hauv nws qhov)

· Lub spatula (thaum nws yog txoj cai saum nws qhov)

· Yog peb qhov kev sib koom tes pib ntawm lub lauj kaub.

Yog vim li cas peb xav tau 2 cov ntsiab lus rau cov spatula, vim tias WidowX tau ua haujlwm kom coj txoj hauv kev yooj yim ntawm 2 cov ntsiab lus. Qhov no txhais tau tias koj tsis tuaj yeem paub tseeb tias nws yuav xaub lub spatula rau hauv nws qhov yog raug, tshwj tsis yog muaj tus taw tes txoj cai ua ntej lub qhov thiab. Qhov no kuj txhais tau tias koj yuav xav ntxiv cov ntsiab lus nyob rau saum cov dispensers, kom paub tseeb tias WidowX tsis ntaus lawv ntawm nws txoj kev mus lob lawv.

Yog tias caj npab tsoo qee yam txav los ntawm ib txoj haujlwm mus rau lwm qhov, koj yuav tsum tau ntxiv ib lub ntsiab lus nruab nrab ntawm ob txoj haujlwm, kom ntseeg tau tias nws tau meej dua ntawm lwm yam khoom (kib yias, hob thiab lwm yam)

Thaum koj tau txais tag nrho koj cov ntsiab lus, koj tau npaj ua ntu ntu kev qhia.

Kauj ruam 4: Programming

Peb lub hauv paus txheej txheem hu ua interbotiXArmPlayback, uas yog qhov haujlwm rau Arbotix. Nws muaj peev xwm ua ntu ntu ua hauv Armlink.

Sab hauv interbotiXArmPlayback peb txhais tias peb siv tus poj ntsuam widowX, thiab tias peb tsis muaj lub khawm txuas. Sab hauv txoj haujlwm muaj 3 lub tsev qiv ntawv ', globalArm.h, uas muaj qhov ntev rau txhua qhov sib koom ua ke, rau nplooj ntawv Kinematic.h siv. Lub tsev qiv ntawv kawg yog ArmSequence.h qhov Sequence tau sau. Peb siv interbotiXArmPlayback, vim nws twb muaj cov kinematics kom siv tau X, Y thiab Z axis, los tswj cov neeg hlau. Tom qab ntawd peb siv Armlink txhawm rau nrhiav txoj hauv kev txhawm rau rub cov hlab nrog ua khob noom cookie, zom cov spatula, nrhiav qhov pib rau 8x8 coodinate system thiab lwm yam (saib daim duab 1). Peb siv kev sim thiab yuam kev los kwv yees qhov chaw nruab nrab ntawm cov dots hauv peb qhov kev sib koom tes. Koj yuav tsum sib phim qhov kev nrug deb no, nrog rau cov khob noom cookie tau faib rau txhua kis.

Peb ua nplooj ntawv rau txhua daim duab, blomst.h uas yog paj, fugl.h uas yog noog thiab Pokeball.h uas yog Pokeball, nrog 64 qhov chaw hauv peb daim duab 8x8 nrog 4 xim sib txawv, yog li peb tsuas xav tau kom tshem tawm lossis ntxiv "//" qhov uas peb xav kom tus neeg hlau tso qee lub khob noom cookie (saib daim duab 2).

Cov cai peb tau ua yog hauv RAR cov ntaub ntawv.

Kauj Ruam 5: Qee Qhov Kev tshoov siab

Nov yog qee qhov piv txwv ntawm pixel kos duab pancakes. Tab sis nco ntsoov, koj lub tswv yim yog qhov txwv:)