RasbperryPi Tsheb Nrog FPV Lub Koob Yees Duab. Tswj los ntawm Web Browser: 31 Kauj Ruam (nrog Duab)

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

Peb yuav tsim 4wd lub tsheb - lub kauj yuav zoo ib yam li hauv lub tank - kom tig ib sab ntawm lub log yuav tig nrog qhov nrawm dua li lwm qhov. Ntawm lub tsheb yuav muab lub koob yees duab tso rau ntawm tus tuav tshwj xeeb uas peb tuaj yeem hloov txoj haujlwm ntawm lub koob yees duab. Tus neeg hlau yuav raug tswj los ntawm lub vev xaib (chrome lossis firefox ntawm lub desktop, lossis firefox ntawm lub xov tooj ntawm tes), ntawm qhov browser, Peb yuav tau txais lub koob yees duab video (tsuas yog 200ms latency), thiab los ntawm qhov browser, peb tuaj yeem tswj lub tsheb txav thiab lub koob yees duab txoj hauj lwm. Txhawm rau kev sib txuas lus yooj yim Kuv tau siv app.remoteme.org system, kuj tseem ua haujlwm tawm ntawm lub thawv tswj lub tsheb zoo li no, Yog li Koj tsis tas yuav sau koj tus lej, tab sis tau kawg Koj tuaj yeem hloov kho cov ntawv ntxiv muaj peev xwm tshiab thiab lwm yam.

Ua ntej txuas lub zog rau koj lub PCB thov txheeb xyuas ob qho kev sib txuas

Kauj Ruam 1: Qee Cov Lus Qhia Txog App.remoteme.org

Cov kab ke muaj peb ntu

• webapplication - thaum Koj tuav koj lub vev xaib tswj hwm thiab nws txuas txhua qhov kev sib txuas lus
• rasbperryPi program - program uas xa cov vis dis aus, tswj hwm koj cov ntawv sau nab
• cov tsev qiv ntawv qhov twg Koj pom chav kawm, cov ntsiab lus txhais

Remoteme.org yog cov kab ke nrawm Koj txuas txhua yam koj li khoom siv ua ke, Koj tuaj yeem tuav tau koj Lub vev xaib, saib koj cov khoom siv sib txuas. Cov kab ke Remoteme.org tau tsim los pab Koj pib ua koj cov haujlwm, tsis muaj kev txhawj xeeb txog kev sib txuas lus raws tu qauv, lub tswv yim tseem ceeb yog xa cov lus binary beetwen ntau yam khoom siv xws li webPages, RasbeprryPI, arduino, thiab cov ntawv sau.

Los ntawm lwm qhov tes Remoteme.org muab rau koj tag nrho kev tswj hwm koj cov ntaub ntawv, Koj tuaj yeem yooj yim hloov kho nws sau koj tus kheej lub luag haujlwm

Ntawm qhov kev qhia no kuv yuav qhia koj yuav ua li cas thiaj ua tau qee qhov txaus ntshai qhov project almoust tsis tau sau cov cai.

Qhov kawg ntawm qhov kev qhia no kuv tau muab cov ntawv txuas uas muaj txiaj ntsig uas yuav pab koj nkag siab remoteme.org system.

Kauj Ruam 2: Dab Tsi Xav Tau:

• Raspberry PI Zero W.
• Lub koob yees duab tshwj xeeb
• Adafruit 16 -Channel 12 -ntsis PWM/Servo Driver - I2C interface - PCA9685 lossis nws cov clone
• Ob lub tshuab servo sib xws nrog lub koob yees duab tuav
• Lub koob yees duab tuav
• Roj teeb - Hauv kev qhia ob txoj hauv kev txuas
• H choj TB6612FNG, los tswj lub log tig
• PCB eagle files Nws yog ib qho yooj yim los ua nws txoj kev hloov pauv cua sov DC-DC
• Kauj ruam Down Converter Module DC
• Neeg mob

Kauj Ruam 3: Kev Sib Txuas

Raspberry pi tswj servo mechanism los ntawm PWM module thiab lub cev muaj zog nrawm los ntawm H choj uas txuas nrog rau RasbperryPi pins, PWM cov tswv yim rau H choj tau tsim los ntawm tib lub module kuv siv rau servos (qhov twg kuv hais saum toj no tsis xav tau cov hloov pauv xav tau)

Kauj Ruam 4: PCB

Koj tuaj yeem rub tawm PCB eagle cov ntaub ntawv los ntawm no Cov Kab yog rog yog li nws yooj yim los ua nws los ntawm kev hloov pauv cua sov

Kauj Ruam 5: PCB Tso Tawm

1. PWM cov tswv yim rau cov tsav tsheb Yuav tsum txuas nrog PWM module 15'th thiab 16th pins (kos lub duab plaub ntsuab ntawm PWM module duab)
2. Lub zog tawm tswv yim rau tsav lub cav (txheeb xyuas qhov siab tshaj plaws qhov hluav taws xob koj lub cav tuaj yeem ua haujlwm nrog)
3. Lub zog rau RasbperryPi thiab PWM module - yuav tsum yog qhov tseeb
4. Tsav lub cev muaj zog tawm (muaj ob qhov txiaj ntsig vim tias peb yuav ua ke tsav lub cav)
5. Servo Mechanisms zog - kuj Koj yuav tsum txheeb xyuas seb qhov hluav taws xob zoo rau lawv li cas
6. Jumper nws lub zog tam sim no los ntawm 5 lub tswv yim yuav ua rau lub zog tseem tsav lub cav kom tsis tas yuav txuas ib yam dab tsi rau kev tawm tswv yim 2
7. Jumper yog tias tam sim no RasbperryPi yuav yog lub zog los ntawm kev tawm tswv yim thib 3 - ua ntej tso jumper ntawm no txheeb xyuas yog tias kev sib txuas tau zoo - Koj tsis xav hlawv koj li RPi
8. Cia cov laug txuas ntawm no txij li peb tsis xav tau cov hloov pauv logic

Kauj Ruam 6: Nws Yuav Ua Haujlwm Li Cas

Ntawm RasbperryPi muaj tsab ntawv nab nab uas siv ob lub tsev qiv ntawv

• ntshuam RPi. GPIO li GPIO-rau pins 25-AIN1, 8-AIN2, 24-BIN1, 23-BIN2 (BCM cov cim) uas txuas nrog H choj
• ntshuam Adafruit_PCA9685 rau PWM module

Rpi tus pin txuas nrog raws li hauv qab 25-AIN1, 8-AIN2, 24-BIN1, 23-BIN2 (BCM) thiab tswj hom H choj (rau tom ntej, rov qab, nres, so luv). H choj xav tau ob lub cim PWM kom peb tuaj yeem tswj kev nrawm lossis lub cev sib hloov. Vim tias ntawm txoj haujlwm peb twb muaj PWM xws li (siv rau servo) peb yuav siv nws los tsim PWM rau H choj.

PWM module siv I2C kev sib txuas lus raws tu qauv. Kuv tau siv ua haujlwm tawm ntawm lub thawv Adafruit_PCA9685. tsev qiv ntawv

Kauj Ruam 7: Sib Sau Tsheb - Log

Peb yuav pib los ntawm txuas cov tsav tsheb mus rau rooj plaub hauv tsheb. Sab laug/Sab lub cev muaj zog txuas ua ke, thiab ob leeg txuas, txuas rau qee lub zog txuas uas tom qab ntawd yuav txuas nrog PCB. Nco tseg qhov tseem ceeb thaum txuas lub cav lub log ntawm txhua sab yuav tsum tig ntawm tib qho kev taw qhia.

Kauj Ruam 8: Lub Hwj Chim (AA Roj Teeb Roj) Xaiv 1/2

Kuv yuav sau ob lub peev xwm ntawm lub hwj chim Lub tsheb thawj zaug yog los ntawm 10xAA roj teeb Thaum kawg duab kuv tau kos los ntawm cov xim liab dhia uas yuav tsum tau muab tso.

Kauj Ruam 9: Lub Hwj Chim (Li-Po 7.2V Roj Teeb) Kev Xaiv 2/2

Thiab qhov kev xaiv thib ob yog 7.2 LI-PO roj teeb. Hauv qhov no peb tau txais 3 qhov hluav taws xob - 5v Rau Rpi thiab module, 6V rau servos thiab ncaj qha los ntawm roj teeb 7.2 volts rau tsav lub cav. Kuv yuav tsum tau siv ob kauj ruam nqis modules

Kev xaiv 2 nrog LI-PO zoo dua:

• Cov roj teeb muaj peev xwm loj dua - lub tsheb yuav tsav ntev dua
• Qhov loj dua qhov hluav taws xob rau tsav lub cav - lub tsheb yuav tsav nrawm dua
• Qhov tshwm sim tsawg dua uas tom qab tsav lub cav pib nrhiav peb tuaj yeem muaj qhov hluav taws xob poob loj thiab RPI rov pib dua.

Kauj ruam 10: Soldering

Kuv tau muab tso rau ntawm PCB qee qhov spacers rau PWM tus qauv. Tsis muaj dab tsi los sau tsuas yog tshuaj xyuas cov duab yuav ua li cas thiaj txhuam tau txhua yam ua ke

Kauj Ruam 11: Lub Koob Yees Duab

peb txuas lub koob yees duab, ntawm no Yog sau yuav ua li cas nruab nrab servo Mechanisms ua ntej yuav nce rau hauv lub koob yees duab, tab sis txoj kev luv tshaj yog maj mam muab phau ntawv txheeb xyuas qhov siab tshaj plaws tig txoj haujlwm thiab teeb tsa servos ntawm qhov chaw nruab nrab. Qhov nruab nrab ntawm qhov kev pabcuam peb muab tso rau hauv lub koob yees duab ntawm qhov chaw nruab nrab (lub koob yees duab tau taw qhia ncaj ncaj ua ntej zoo li ntawm daim duab)

Kauj Ruam 12: Muab Cov Khoom Tsheb Ua Ke

Rau PCB kuv tau ua lub rooj plexiglass me me

Kauj Ruam 13: App.remoteme.org Kev Kho

Kuv tau siv dawb app.remoteme.org system nws pab koj kom sib txuas, thiab nws twb muaj cov ntawv sau uas peb xav tau

Ntawm qhov kev qhia no, Kuv yuav cia li qhia ib qib zuj zus yam yuav tsum tau ua kom tsav tsheb (ntawm no Koj yuav pom cov ncauj lus kom ntxaws)

• Hu nkauj ntawm https://app.remoteme.org tom qab sau npe Koj yuav tau nkag mus rau hauv
• qhib Token tab ntawm sab laug, tom qab ntawd nyem "cim tshiab" muab qee lub npe thiab nyem OK, Peb nyuam qhuav tsim cov cim tshiab (duab ntawm lub vijtsam)
• hauv qhov ua piv txwv no, tus nqi token yog: ~ 1_ & p@+BNnZ@A+x8 (koj yuav txawv;))

Kauj ruam 14: RasbperryPi Configuration

ntawm putty console (ntawm no yuav teeb tsa peb li RPi qhib lub koob yees duab I2c kev sib txuas lus)

git clone git: //github.com/remoteme/remoteme.git

cd remoteme

python3.5 install.py

• Instalator yuav nug peb qee cov lus nug rau txhua qhov peb teb [Y] es thiab lees paub los ntawm [nkag mus]
• thaum kev teeb tsa yuav nug txog token peb muab tshuaj txhuam (ua haujlwm+ntxig) token theej los ntawm daim ntawv thov thiab Nkag mus
• lub npe piv txwv Rpi
• deviceId 1 Nkag mus
• tom qab kev teeb tsa - khiav qhov program

./runme.sh

Kauj Ruam 15: Txheeb Xyuas Kev Sib Txuas

Cia peb rov qab mus rau

Ntawm cov cuab yeej tab peb yuav pom peb txuas nrog RPi (lub cim ntsuab txuas txhais tau tias RPi txuas nrog tam sim no)

Kauj Ruam 16: Ntxiv Python Script

Tam sim no peb yuav ntxiv tsab ntawv nab hab sej, nws twb nyob ntawm tus qauv lawm yog li peb tsis tas yuav ua haujlwm dab tsi.

Ntawm cov cuab yeej tab qhib RasbperryPi ntawv qhia zaub mov thiab xaiv "Ntxiv cov ntawv sab nraud".

Thaum lub qhov rai tshiab tshwm muab cov ntaub ntawv raws li ntawm daim duab saum toj no

Tsis txhob hnov qab xaiv tus qauv "car4wd". Tom qab cov kauj ruam no, remoteme.org yuav ntxiv tsab ntawv nab nab rau peb RasbperryPi thiab rov pib dua nws

Kauj Ruam 17: Txheeb Xyuas Yog tias Python Script tau ntxiv Sucesfully

Ntawm cov cuab yeej tab tshiab python tsab ntawv ntaus ntawv yuav tsum tau ntxiv, thiab nws cov deviceId yog 2. Nkag mus rau hauv lub cuab yeej ID webpage yuav xa lus los tswj lub tsheb

Kauj Ruam 18: Ntxiv Webpage los Tswj Tsheb

ntawm cov cuab yeej tab nyem "Tshiab" tom qab ntawd "WebPage". Peb tsuas yog ntxiv lwm lub cuab yeej - webPage peb yuav siv nws los tswj peb lub tsheb. Thiab vim tias peb siv tus qauv "car4wdDesktop" ntawm lub vev xaib twb yog cov ntaub ntawv yuav luag npaj txhij siv

Kauj Ruam 19: Kho WebPage Device kom Tswj Tsheb 1/2

Nthuav WebPage ntawm lub cuab yeej tab thiab nyem index.html ces Qhib

Kauj Ruam 20: Kho WebPage Device los Tswj Tsheb 2/2

Lub qhov rai tshwm tom qab ntawd peb yuav tsum tau muab deviceId ntawm peb cov ntawv nab nab ntawm peb cov ntaub ntawv deviceId yog 2. Wb hloov qhov chaw uas qhia hauv daim duab

Kauj Ruam 21: Qhib Lub Chaw Tswj Tsheb

Tam sim no nws yog lub sijhawm qhib peb nplooj ntawv thiab pom tias nws ua haujlwm li cas. Ntawm lub cuab yeej tab nyem qhov index.html thiab tom qab ntawd "Qhib hauv tab tshiab" Kom tau txais kev saib ua ntej video Koj yuav tsum siv chrome lossis firefox browser lwm tus browser tsis txhawb webRTC tag nrho

Kauj Ruam 22: Kho Lub Koob Yees Duab 1/2

Thaum peb txav nas ntawm thaj chaw yees duab lub koob yees duab yuav tsum hloov txoj haujlwm, thiab nws yuav tsum ua haujlwm zoo ib yam li hauv FPS games. Tej zaum nws yuav tsis txav mus kom raug

Kauj Ruam 23: Kho Lub Koob Yees Duab 2/2

Qhib tsab ntawv.js (cov cuab yeej tab nthuav lub vev xaib tom qab ntawv nyem rau ntawm script.js ces qhib) thiab nrhiav qhov chaw kuv pom ntawm qhov screen

ntawm kuv qhov chaw nruab nrab txoj haujlwm yog 560 thiab 430 thiab thaj tsam ntawm kev txav mus rau ob qho tib si 200

Koj yuav tsum sim nrog cov lej no Yog li koj tau txais lub koob yees duab txoj haujlwm nruab nrab thiab txav mus los yooj yim, Yog tias koj siv qhov kev qhia no tsuas yog luam tawm muab qhov txiaj ntsig

Kauj Ruam 24: Tsav 1/2

Yog tias koj nias lub xub ntawm cov keyboard, ntsuas yuav tsum hloov txoj haujlwm thiab lub tsheb yuav tsum tsav. Yog tias koj nias "nce" xub thiab lub tsheb tig rov qab Koj yuav tsum ntxiv/tshem tawm rho tawm ntawm qhov chaw ntawm lub vijtsam.

Tom qab kev ua haujlwm no tom qab tsoo "nce" lub tsheb xub yuav tsum tsav ua ntej thiab nqis xub lub tsheb yuav tsum tsav rov qab.

Kauj Ruam 25: Tsav 2/2

Tam sim no tig - ntaus sab laug yog lub tsheb tig sab xis Koj yuav tsum tau tig cov kab hluav taws xob (kos daim duab saum toj no)

Yog tias koj xaim cov kab no Koj tuaj yeem hloov nws ntawm script.jsjust hloov qhov kev txiav txim ntawm kev xa cov cav nrawm, ua ntej:

pos = putByte (ret, pos, carController.getMotorMode (carController.getRightSideSpeed ())); pos = putByte (ret, pos, Math.abs (carController.getRightSideSpeed ()*255)));

pos = putByte (ret, pos, carController.getMotorMode (-carController.getLeftSideSpeed ()));

pos = putByte (ret, pos, Math.abs (carController.getLeftSideSpeed ()*255)));

tom qab:

pos = putByte (ret, pos, carController.getMotorMode (-carController.getLeftSideSpeed ()));

pos = putByte (ret, pos, Math.abs (carController.getLeftSideSpeed ()*255)));

pos = putByte (ret, pos, carController.getMotorMode (carController.getRightSideSpeed ()));

pos = putByte (ret, pos, Math.abs (carController.getRightSideSpeed ()*255)));

thiab tam sim no Koj yuav tsum ua si nrog cov minuses zoo li ib kauj ruam ua ntej kom nws ua haujlwm raug;). Raws li koj tej zaum pom tom qab tsoo lub xub tsheb tsis tau tsav nrog kev nrawm kom lub tsheb txav nrawm dua li tso lub xub thaum nws nyob hauv txoj haujlwm siab tshaj plaws. thiab nias thiab tuav nws dua

Kauj Ruam 26: Nws Ua Haujlwm Li Cas

Lub vev xaib tau xa cov ntawv xov xwm 9-byte mus rau nab nab tsab ntawv hauv hom ntawv:

• 1 byte ib byte integer tus nqi 1
• 2 bytes integer X lub koob yees duab txoj haujlwm
• 2 bytes integer Y lub koob yees duab txoj haujlwm
• 1 byte integer sab laug lub cev muaj zog hom (3 = rov qab, 1 = rau pem hauv ntej, 2 = nres)
• 1 byte integer sab laug lub cev muaj zog ceev
• 1 byte integer txoj cai lub cev muaj zog hom (3 = rov qab, 1 = rau pem hauv ntej, 2 = nres)
• 1 byte integer txoj cai tsav ceev

xa lus tau ua ntawm script.js cov ntaub ntawv ntawm kev ua haujlwm "sendNow ()"

ntawm RasbperryPi python.py tau txais cov lus no hauv kev ua haujlwm "onUserMessage"

Koj tuaj yeem tshawb xyuas nws thiab ua si me ntsis kom Koj paub tias muaj dab tsi tshwm sim.

chav ua haujlwm piav qhia ntawm no

Kauj Ruam 27: Ntsiav Tshuaj, Txawb Txawb

Peb ntxiv cov vev xaib tshiab zoo li peb tau ua yav dhau los tab sis tam sim no peb xaiv tus qauv "car4wdMobile"

Tom ntej no, peb teeb tsa txhua yam hauv tsab ntawv script.js raws li peb tau ua rau desktop tswj lub vev xaib Cov lus xov xwm zoo ib yam nkaus li peb tsis tas yuav hloov tsab ntawv sej.

Kauj Ruam 28: Qhib Nplooj Ntawv ntawm Txawb Xov Tooj

Hloov chaw ntawm kev nkag mus rau koj tus as khauj los ntawm lub xov tooj tsuas yog luam theej duab QR anymous url.

cov ntsiab lus ntawm QR ntawm no

Yog tias koj lub xov tooj ntawm tes ua haujlwm thaum RPi thiab mobile nyob ntawm tib lub wifi tab sis tsis yog tias koj siv mobile internet ces Koj yuav tsum ntxiv tig server, yuav ua li cas uas kuv tau sau ntawm no

Kauj Ruam 29: Ntxiv Turn Server

Qee zaum (thaum Koj nyob tom qab NAT lossis qee qhov chaw teeb tsa hluav taws xob) Koj tsis tuaj yeem txuas koj lub neeg hlau los ntawm lwm lub network ces koj tus neeg hlau txuas nrog. Nws tsis yog qhov teeb meem loj thiab tom qab ntawd Koj yuav tsum ntxiv tig server.

Kuv tau sim cov neeg rau zaub mov los ntawm XIRSYS lub tuam txhab (nws pub dawb rau cov tsim tawm siv) thiab kuv yuav qhia yuav ua li cas teeb tsa tig server siv XIRSYS system

sau npe:

global.xirsys.net/dashboard/signup

ces nyem "ntxiv" ntxiv daim ntawv thov

ntawm sab xis hauv qab "zoo li qub creditredits" Koj muaj txhua cov ntaub ntawv Koj xav tau. Luam nws rau hauv cov ntawv webrtc_streamer.conf los ua qhov ntawd mus rau

nthuav RaspberryPi deivces

nyem cov ntaub ntawv webrtc_streamer.conf

nyem qhib

thiab ntxiv cov ntaub ntawv

turn_server = turn_username =

tig_credential =

tom qab koj xaus kev kho Koj yuav tsum muaj qee yam zoo li qhov screen.

ces nyem Txuag thiab rov pib dua Koj Rpi, los ntawm txhaj cov ntawv qhia zaub mov ntawm RasbperryPi ntaus ntawv thiab xaiv rov pib dua

Tom qab RPi txoj haujlwm tau rov pib dua Koj tuaj yeem pom cov vis dis aus saib ntawm koj lub xov tooj ntawm tes txawm hais tias koj tab tom siv internet siv xov tooj.

Kauj Ruam 30: Txhais Tes Txawb

ntawm lub voj voos 1 peb tso tus ntiv tes xoo sab laug, ntawm 2 sab xis - tsis tas yuav tsum yog raws cov ntsiab lus no - lub vev xaib yuav teeb tsa xoom txoj haujlwm tsuas yog tom qab koj kov lub vijtsam, thiab los ntawm kev txav koj tus ntiv tes xoo (tsav tsheb sab laug, txoj cai lub koob yees duab) Koj tuaj yeem tswj tau koj lub tsheb

Kauj Ruam 31: Cov ntsiab lus

Kuv vam tias Koj nyiam qhov kev qhia no, raws li kuv tau sau ua ntej ntawm qhov kev qhia no yog xav paub ntau ntxiv txog nws ua haujlwm li cas hauv qab lub hau.

qee qhov txuas:

remoteme.org - home page ntawm remoteme.org muaj Koj pom cov ntaub ntawv thiab qhia qhia

FB fanpage - Facebook fanpage tshiab tshaj tawm txog remoteme.org

Youtube - qee cov vis dis aus ntawm qhov project, qhia

Nyob zoo, Maciek