Arduino Controlled Servo Robot (SERB): 7 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:31

Yuav ua li cas txoj hauv kev zoo dua los pib sim nrog qhib qhov micro -controllers (Arduino) tom qab ntawd los ntawm kev tsim koj tus kheej qhib qhov neeg hlau (CC (SA -BY))? Yuav ua li cas rau koj li SERB?

• (ntawm no) - Yuav ua li cas txuas koj li SERB rau hauv internet thiab tsav nws hla Skype video hu.
• (ntawm no) - Yuav Ua Li Cas Tswj Koj Li SERB Siv Wii nunchuck's tus ntsuas kev ntsuas
• (ntawm no) - Yuav Ua Li Cas Ntxiv Obstacle Tshawb Pom Tus Tsov Ntxhuav rau Koj Tus Neeg Hlau
• (ntawm no) - Yuav ua li cas thiaj ua tau 30 cov khoom siv (Qhib Kev Tsim Khoom)

Nta:

• Ua haujlwm tau zoo siv Arduino Duemilanove micro-controller (lossis lwm lub micro-maub los ntawm koj xaiv).
• Tsis xav tau cov laug.
• Kev xaiv txiav txiav rau daim acrylic. (scroll pom, nkag mus rau lub tshuab txiav laser, yuav cov khoom ua ntej txiav)
• Yooj yim nthuav dav thiab hloov kho tau nrog lub qhov ntsia liaj qhov rooj ntxiv thiab suav nrog lub khob cij.
• Dual pob bearing rear log.
• Ua ntej thiab ua haujlwm hauv 1-2 teev. (los ntawm cov khoom siv)
• Qhib qhov tsim (tsim kom ntau li koj nyiam)

(Shameless Plug) Hauv tebchaws Askiv thiab nyiam cov khoom Arduino? txheeb xyuas peb lub vev xaib qhib tshiab oomlout.co.uk Cov vis dis aus nrawm ntawm kev ua tiav Arduino tswj servo neeg hlau - (SERB) ua haujlwm suav nrog cov phiaj xwm xeem (kauj ruam 6) Nco tseg: Cov ntaub ntawv los ntawm cov ntaub ntawv muaj nyob rau ntawm cov lus qhia (Cov Ntaub Ntawv Rau Rau) - Yuav Ua Li Cas Ua Arduino Tswj Cov Neeg Ua Haujlwm Servo - (SERB)

Kauj ruam 1: Qhov & Cov Cuab Yeej

Txhua tus ntsia hlau tuaj yeem pom ntawm koj lub Tsev Hauv Tsev Hauv Tsev. Lwm qhov tuaj yeem nrhiav tau hauv online (Kuv tau suav nrog qhov txuas mus rau qhov kuv nyiam tshaj plaws rau txhua tus). Part List List: Ib pob uas muaj txhua yam khoom siv kho vajtse tuaj yeem xaj tau ntawm oomlout.com lub khw (ntawm no) ($ 120) Ceev thiab Bolts:

• 3 hli x 15 hli ntsia liaj qhov rooj (x20)
• 3 hli x 10 hli ntsia liaj qhov rooj (x12)
• 3 hli txiv ntoo (x34)
• 3mm tshuab ntxhua khaub ncaws (x12)
• 8mm x 25mm ntsia liaj qhov rooj (x2)
• 8mm txiv ntoo (x2)
• Skate Bearings (x2) (VXB) (cov no yog cov qauv skate bearings yog li lawv tuaj yeem khaws tau los ntawm ib khub ntawm cov menyuam-hniav lossis cov skateboard)

Log tsheb

• Loj O-ring (4.5 "ID 3/16" Bead Dash #349) (x2) (McMaster-Carr Khoom #9452K407)
• Me O-ring (3/4 "ID 3/16" Bead Dash #314) (x1) (McMaster-Carr Khoom #9452K387)

Electronics

• Arduino Duemilanove (x1) (txiag txiag)
• Kev Sib Txuas Txuas Txuas Nruam (x2) (Parallax)
• 400 Hu rau Breadboard (x1) (Txhua Yam Khoom Siv Hluav Taws Xob))
• Quad AA Roj Teeb Box (x1) (Txhua Yam Khoom Siv Hluav Taws Xob)
• 9V Roj Teeb Clip (x1) (Txhua Yam Khoom Siv Hluav Taws Xob)
• 2.1 hli Plug (x1) (Txhua Yam Khoom Siv Hluav Taws Xob)
• 3 tus pin header (x2) (Txhua Lub Tshuab Hluav Taws Xob)
• A -B USB Cable - Tshuab Luam Ntawv Style (x1) (Txhua Yam Khoom Siv Hluav Taws Xob) (tsis suav nrog hauv cov khoom siv)

Roj teeb:

• AA roj teeb (x4) (tsis suav nrog hauv cov khoom siv)
• Roj teeb 9v (x1) (tsis suav nrog hauv cov khoom siv)

Hlau: (tag nrho cov hlau yog 22 AWG khoom Kuv yuav kuv li ntawm McMaster-Carr)

• 15 cm Ntshav (x2)
• 15 cm Dub (x1)
• 5 cm Dub (x2)
• 5 cm Liab (x2)

Cov cuab yeej

• Ntsia Hlau (x1) (Philips)
• Koob-qhov ntswg Pliers (x1)

Kauj Ruam 2: Txiav tej daim

Thov xaiv cov kauj ruam twg ua raws raws qhov kev txiav uas koj tau xaiv.

Yuav cov khoom ua ntej txiav los ntawm oomlout.com lub khw (ntawm no) ($ 60 suav nrog thauj mus rau Asmeskas thiab Canada)

Kev Xaiv 2 (Kev Tsim Kho Digital (piv txwv li. Ponoko) / Kev Nkag Mus Rau Laser Cutter)

• Rub cov txheej txheem laser txiav ("03 SERB Ponoko Txiav Layout P2.eps" lossis "03- (SERB) -Ponoko Txiav Layout (P2).cdr")
• Txiav cov ntaub ntawv siv Ponoko lossis ntawm koj tus kheej Laser Cutter (siv 3mm,.118 "acrylic (qee zaum muag li. 125")

Qhov Xaiv 3 (Scroll saw thiab Drill)

• Rub tawm thiab luam tus qauv PDF (thov xaiv cov ntawv sib xws rau koj daim ntawv loj) 03- (SERB) -ScrollSaw Txawv (tsab ntawv).pdf 03- (SERB) -ScrollSaw Txawv (A4).pdf (nws yog ib qho tseem ceeb kom tsis txhob ntsuas daim duab thaum luam ntawv)
• Ntsuas tus pas ntsuas ntawm daim ntawv luam tawm tsam tus kav uas koj ntseeg, yog tias lawv tsis sib xws tus qauv tau raug ntsuas thiab koj yuav tsum saib koj lub tshuab luam ntawv teeb tsa ua ntej rov luam dua. Yog tias lawv sib haum, ntxiv mus.
• Kaw cov qauv rau daim ntawv acrylic (3mm,.118 "(qee zaum muag raws li. 125").
• Laum qhov.
• Txiav tawm daim uas siv cov saw pom

Kauj ruam 3: Sib dhos

Pab kev zoo siab ua qhov no deb 90% ntawm cov txheej txheem ua tiav tsuas yog rub cov lus qhia los ua ke ntawm cov kauj ruam no (04- (SERB) -Assembly Guide.pdf) & tom qab me ntsis lego/mechano style sib dhos koj yuav npaj tau rau xaim. Kom lom zem rau koj raws txoj hauv kev ntawm no yog lub sijhawm dhau los ntawm kuv lub rooj sib txoos:

Kauj Ruam 4: Kev thaiv kab

Nrog txhua qhov loj ua ke nws lub sijhawm los ntxiv cov leeg hluav taws xob me me uas yuav tso cai rau peb cov neeg hlau kom tswj tau. Txhawm rau ua qhov no rub tawm thiab luam daim duab kab hluav taws xob (05- (SERB) -Wiring Diagram.pdf). Thawj qhov muag ntawm nws tuaj yeem zoo li txaus ntshai, txawm li cas los xij yog tias koj ua txhua qhov kev sib txuas ua ntu zus thiab siv koj lub sijhawm nws los ua ke zoo kawg li. Qhov txuas yog yooj yim heev thiab tsis muaj teeb meem tuaj yeem tuaj rau koj lub Circuit Court kom txog thaum koj ntxiv roj teeb. Yog li xaim txhua yam ua ob zaug xyuas nws, tom qab ntawd ntxiv lub zog.

Kauj Ruam 5: Xeem & Teeb Meem

Yog tias koj xaj cov khoom siv koj Arduino tau tuaj ua ntej nrog qhov kev xeem. Tsuas yog tso rau 4 AA roj teeb thiab ntsaws 9v roj teeb rau hauv Arduino. Thiab yog tias txhua yam tau ua tiav kom raug koj lub neeg hlau yuav pib txav mus (nws yuav tig mus rau qhov tsis ncaj ncees rau lub sijhawm ntawm 0.1 thiab 1 thib ob ua ntej yuav mus tom ntej rau lub sijhawm tsis sib xws ntawm 1 thiab 2 vib nas this ces ncua rau 2 vib nas this ua ntej pib dua). Yog tias koj tsis tau yuav cov khoom siv yuav tsum tau ua cov kauj ruam ntxiv. Rub tawm cov ntawv zip txuas (07- (SERB)-SERB-Test Arduino Program.zip). Tom qab ntawd unzip nws hauv koj phau ntawv teev npe Arduino (default "kuv Cov Ntaub Ntawv / Arduino \") thiab rub nws mus rau koj lub rooj tsav xwm arduino. (yog tias koj yog tus tshiab rau Arduino dhia ua ntej ib qib uas muaj cov txuas mus rau qhov zoo tau pib qhia tawm) Cov teeb meem tshwm sim: Kuv li SERB txav qeeb thaum nws yuav tsum tau nres. Qhov no yog qhov txiaj ntsig ntawm koj cov servos tsis raug ntsuas kom raug, txhawm rau ntsuas koj cov servos tos kom txog thaum koj qhov kev zov me nyuam muaj cov servos tso tseg tom qab ntawd nrog lub hau ntswj me me tig lub hwj chim hauv lub servo (qhib me me hauv servo casing saum toj no qhov twg cov xov hlau). Tig nws sab laug lossis sab xis kom txog thaum servo nres tiag. Tej yam tsis ua haujlwm zoo. Xa peb tus e-mail nrog koj cov tsos mob thiab peb yuav sim thiab pab koj tawm, thaum koj tseem tos qhov lus teb ob zaug xyuas tag nrho koj cov xov hlau nrog daim kab xev daim duab los ntawm kauj ruam 4. Yog tias koj ntsib teeb meem thov sau ntawv tawm tswv yim rau Cov Lus Qhia no lossis xa email mus rau [email protected] thiab peb yuav sim peb qhov zoo tshaj plaws los pab koj kom tau txais koj li SERB ua haujlwm

Kauj ruam 6: Programming

Tus neeg hlau lub cev ua tiav lub sijhawm los pib muab nws lub hlwb. los pab koj pib nrog Arduinos, los ntawm rub tawm lub program ib puag ncig los sau koj thawj qhov program. Arduino Programming Reference - Ua tiav yooj yim rau kev qhia rau Arduino cov lus programming. How Servos Ua Haujlwm - Ua sai sai rau seb servo motors ua haujlwm li cas. Arduino Servo Library - Lub tsev qiv ntawv Arduino Servo ua haujlwm li cas (peb tswj hwm peb li cas). Muaj peb txoj hauv kev los pib ua haujlwm rau koj li Arduino Controlled Servo Robot - (SERB). Option 1: (Hloov kho SERB_Test.pde) Qee zaum thaum ua haujlwm yooj yim tshaj plaws yog ua qhov haujlwm ua haujlwm thiab pib ntxiv koj tus lej rau nws. Txhawm rau ua qhov no rub tawm SERB_Test zipped program (07- (SERB)-SERB-Test Arduino Program.zip). Ua mus rau unzip qhov no hauv koj phau ntawv teev npe Arduino (default "Kuv Cov Ntaub Ntawv / Arduino \"). Thaum kawg qhib Arduino qhov chaw ib puag ncig thiab rub nws mus rau koj Arduino. Cov cai tau hais tawm zoo. (Lossis theej thiab muab cov lej los ntawm kab ntawv txuas ntxiv ntawm cov kauj ruam no mus rau Arduino Sketch tshiab) Qhov Xaiv 2: (Ntxiv SERB Cov Txheej Txheem rau koj qhov haujlwm) Ntxiv qee qhov kev ua haujlwm yooj yim rau koj qhov kev pab cuam ua ntej (zoo li goForward (), setSpeed (int) thiab lwm yam). Txhawm rau ua qhov no rub tawm cov txheej txheem hauv kab ntawv (07- (SERB)- Cov Txheej Txheem Yooj Yim. Text.txt). 1. Luam thiab muab cov lus ua ntej rau thaum pib ntawm koj qhov program.2. Luam thiab muab cov ntu ib txwm ua rau lub cev ntawm koj txoj haujlwm. 3. Ntxiv hu rau serbSetup (); rau koj teeb () niaj hnub. Option 3: (Tsim koj tus kheej qhov program los ntawm kos) Qhov no tsis nyuaj heev. Txhua yam uas xav tau yog kom paub koj tus kheej nrog Arduino Servo Library. Tom qab ntawd txoj cai servo txuas nrog tus pin 9, thiab sab laug servo rau tus pin 10.note: Cov haujlwm ntxiv yuav raug ntxiv ntawm no raws li lawv tau tsim; lossis yog tias koj txhim kho qee yam thiab xav kom nws tshwj xeeb xa kuv cov lus ntiag tug thiab nws tuaj yeem ntxiv. Cov lus txuas ntxiv: (SERB_Test.pde Code)

/ * * Arduino Controlled Servo Robot (SERB) - Test Program * Yog xav paub ntau ntxiv mus ntsib: https://www.oomlout.com/serb * * Tus cwj pwm: Qhov kev sim yooj yim uas ua rau SERB * tig mus tsis hais sab laug lossis sab xis rau * lub sijhawm tsis sib xws ntawm 0.1 thiab 1 thib ob. * Lub SERB yuav tsav tsheb mus tom ntej rau lub sijhawm * sijhawm nruab nrab ntawm 1 thiab 2 vib nas this. Thaum kawg * ncua rau 2 vib nas this ua ntej pib dua. * * Xov Tooj: Txoj Cai Pabcuam Sab Nraud - tus pin 9 * Sab Nraud Servo Teeb liab - tus pin 10 * * Daim ntawv tso cai: Cov haujlwm no tau ntawv tso cai raws li Creative Commons * Kev Cuam Tshuam -Qhia Ib Leeg 3.0 Unported License. Txhawm rau * saib daim ntawv theej ntawm daim ntawv tso cai no, mus saib * https://creativecommons.org/licenses/by-sa/3.0/ * lossis xa tsab ntawv mus rau Creative Commons, 171 Thib Ob * Txoj Kev, Suite 300, San Francisco, California 94105, * Tebchaws Asmeskas. * */// ------------------------------------------------------- ----------------------------- // Pib NTAWM ARDUINO CONTROLLED SERVO ROBOT (SERB) PREAMBLE #suav nrog #define LEFTSERVOPIN 10 #define RIGHTSERVOPIN 9Servo leftServo; Servo rightServo; int ceev = 100; // teeb tsa qhov nrawm ntawm tus neeg hlau (ob qho kev pabcuam) // ib feem pua ntawm 0 thiab 100 // Xaus Ntawm ARDUINO CONTROLLED SERVO ROBOT (SERB) PREAMBLE // ---------------- ----------------------------------------------------------------------- --------/ * * teeb tsa tus pin rau cov xeev tsim nyog thiab txuas nrog servos. Tom qab ntawd ncua * rau 1 thib ob ua ntej qhov kev zov me nyuam pib */ tsis muaj teeb meem teeb tsa () {serbSetup (); // teeb tsa lub xeev ntawm txhua qhov tsis tseem ceeb // pins thiab ntxiv servos rau koj daim duab kos randomSeed (analogRead (0)); // teeb tsa cov lej tus lej sib xws nrog // qee yam me me ua rau ncua qeeb (1000);}/ * * tig tus neeg hlau sab laug lossis sab xis (tsis xwm yeem) rau lub sijhawm nruab nrab ntawm * 0.1 thiab 1 thib ob. Ua ntej yuav mus tom ntej rau lub sijhawm tsis sib xws * nruab nrab ntawm 1 thiab 4 vib nas this. Ua ntej ncua rau ob vib nas this ces pib * dua. */Tsis muaj dab tsi voj () {turnRandom (100, 1000); // Hloov pauv sab laug lossis sab xis rau ib lub sijhawm // randomtime ntawm.1 thib ob // thiab ib pliag goForwardRandom (1000, 2000); // Mus tom ntej rau lub sijhawm tsis sib xws // nruab nrab ntawm // 1 thiab 2 vib nas this goStop (); // Nres cov neeg hlau ncua (2000); // pauses rau 2 vib nas this (thaum nres)}/ * * tig tus neeg hlau randomly sab laug lossis sab xis rau lub sijhawm tsis sib xws ntawm * minTime (milliseconds) thiab maxTime (milliseconds) */void turnRandom (int minTime, int maxTime) {int xaiv = random (2); // Random tus lej los txiav txim siab // ntawm sab laug (1) thiab sab xis (0) int turnTime = random (minTime, maxTime); // Random tus lej rau ncua sijhawm // lub sijhawm yog (xaiv == 1) {goLeft ();} // Yog tus lej tsis raug = 1 ces tig // sab laug lwm tus {goRight ();} // Yog random tus lej = 0 ces tig // txoj cai ncua (turnTime); // ncua rau lub sijhawm tsis sib xws}/ * * mus tom ntej rau lub sijhawm tsis sib xws ntawm minTime (milliseconds) * thiab maxTime (milliseconds) */void goForwardRandom (int minTime, int maxTime) {int forwardTime = random (minTime, maxTime); // txiav txim lub sijhawm tsis raug rau // mus rau tom ntej goForward (); // teeb tsa SERB rau pem hauv ntej ncua (forwardTime); // qeeb rau lub sij hawm random} // ---------------------------------------- -------------------------------- // Pib NTAWM ARDUINO CONTROLLED SERVO ROBOT (SERB) ROUTINES/ * * teeb tsa koj li arduino los hais txog koj li SERB siv cov txheej txheem suav nrog*/tsis muaj dab tsi serbSetup () {setSpeed (nrawm); pinMode (LEFTSERVOPIN, NTUJ) // teeb tsa sab laug servo teeb liab pin // rau pinMode (RIGHTSERVOPIN, OUTPUT); // teeb tsa txoj cai servo tus pin // rau sab laugServo.attach (LEFTSERVOPIN); // txuas sab laug servo rightServo.attach (RIGHTSERVOPIN); // txuas txoj cai servo goStop ();}/ * * teeb tsa qhov nrawm ntawm tus neeg hlau nruab nrab ntawm 0- (nres) thiab 100- (tag nrho nrawm) * NCO TSEG: ceev yuav tsis hloov qhov nrawm tam sim no koj yuav tsum hloov nrawm * tom qab ntawd hu rau ib qho ntawm txoj kev mus ua ntej kev hloov pauv tshwm sim.*/void setSpeed (int newSpeed) {yog (newSpeed> = 100) {newSpeed = 100;} // yog tias nrawm dua 100 // ua rau 100 yog (newSpeed <= 0) {newSpeed = 0;} // yog tias nrawm dua 0 ua // nws 0 nrawm = newSpeed * 0.9; // ntsuas qhov nrawm los ntawm // ntawm 0 thiab 90}/ * * xa cov neeg hlau mus rau tom ntej */tsis muaj dab tsi goForward () {leftServo.write (90 + nrawm); rightServo.write (90 - nrawm);}/ * * xa cov neeg hlau rov qab */tsis muaj dab tsi goBackward () {leftServo.write (90 - nrawm); rightServo.write (90 + nrawm);} / * * xa cov neeg hlau txoj cai * /tsis muaj dab tsi goRight () {leftServo.write (90 + nrawm); rightServo.write (90 + nrawm);}/ * * xa cov neeg hlau sab laug */tsis muaj dab tsi goLeft () {leftServo.write (90 - nrawm); rightServo.write (90 - nrawm);}/ * * nres tus neeg hlau */tsis muaj dabtsis goStop () {leftServo.write (90); rightServo.write (90);} // Kawg ntawm ARDUINO CONTROLLED SERVO ROBOT (SERB) ROUTINES // ---------------------------- ----------------------------------------------- ---------------------- Ua Tsaug Ntau

Kauj Ruam 7: Ua tiav, Lwm Tus Uas Ua Tiav & Yav Tom Ntej

Nrog koj zoo siab kom tau txais qhov no deb thiab kuv vam tias koj yuav muaj kev lom zem nrog koj Arduino Controlled Servo Robot - (SERB). Michael Beck's SERB -Michael pom cov phiaj xwm rau SERB dhau ntawm Thingiverse.com thiab txiav nws tawm ntawm cov xim daj thiab liab. Kuv xav tias nws zoo nkaus li. Mike's SERB - Mike (ntawm St. Louis Cheeb Tsam Robot club ROBOMO) muaj ib tus phooj ywg laser txiav lub SERB chassis, thiab siv nws tus kheej robotic paub -yuav ua li cas kom nws nce thiab khiav. Kuv xav tias nws zoo li ua tiav hauv xiav. (txheeb xyuas nws lub vev xaib kom paub meej txog qhov no nrog rau nws lwm tus neeg hlau (ntawm no) Ntu no yuav muaj cov ntsiab lus ntawm kev txhim kho yav tom ntej thiab cov ntawv txuas ntxiv (lawv yuav nthuav tawm ntawm no ua ntej lawv tau sau tseg kom raug). Tab sis kuv kuj xav qhia tawm cov duab Yog tias koj tau ua tiav xa kuv cov lus ntiag tug nrog duab thiab ob peb lo lus (muab nws piav lossis txuas rau koj lub vev xaib) thiab kuv yuav ntxiv nws ntawm no. (Tsis txaj muag Plug) Yog tias koj nyiam cov ntawv qhia no txheeb xyuas oomlout.com rau lwm qhov kev lom zem qhib qhov haujlwm.

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