悉知网站建设,网页设计作业制作与,遂昌赶街网站,免费发布信息网站平台一、本体说明
1. 底盘概述 该底盘是一款模块化的桌面级应用型底盘#xff0c;基于应用级软件架构设计、应用级硬件系统设计、典型应用型底盘机械系统设计。 底盘本体为一个采用半独立刚性悬挂的四驱全向底盘。 2. 软件环境介绍 操作系统#xff1a;Ubuntu18.04系统。基于Deb…一、本体说明
1. 底盘概述 该底盘是一款模块化的桌面级应用型底盘基于应用级软件架构设计、应用级硬件系统设计、典型应用型底盘机械系统设计。 底盘本体为一个采用半独立刚性悬挂的四驱全向底盘。 2. 软件环境介绍 操作系统Ubuntu18.04系统。基于Debian GNU/Linux支持x86、amd64即x64、ARM和ppc架构。 仿真系统基于开源机器人操作系统ROS melodic和开源软件平台Arduino开发。上位机采用ROS melodic基于Rviz完成全向移动底盘slam导航运动规划采用gazebo完成全向移动底盘物理运动仿真下位机采用Arduino实现对全向移动底盘运动的控制。 注意准备一个外接显示器。
3. 硬件配置及主要参数 硬件配置及主要参数表 4. 认识底盘的电器接口 ① 常用接口说明 底盘尺寸示意图 底盘常用电气接口 ② 扩展电气接口说明 左侧扩展接口对应图 车头扩展接口对应图 车尾扩展接口对应图 5. 底盘简化的系统框图 底盘的系统框图 二、驱动及控制
1. 控制底盘单个轮子
实现思路 控制底盘的四个轮子分别转动。 下面我们先来了解一下底盘的总线舵机ID号。 底盘的头部、尾部 底盘上总线舵机ID号 操作步骤
① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_single_bus_steering_gear\Control_single_bus_steering_gear.ino
/*------------------------------------------------------------------------------------版权说明Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//**Control single bus steering grar**///* head* ID:001 ID:000* ___________* | |* | |* | |* | |* | |* | |* |___________|* ID:003 ID:002 * Rear end** 2020.8.7 by boris//*/#define mySerial Serial2 //Serial port used by bus steering gear#define Serial_Baud_Rate 115200 //Serial Port baud rate#define BusServoSerialBaud 115200 //Bus steering gear baud rate#define wheel_speed_forward 0.08 //wheel forward speed#define wheel_speed_back -0.08 //wheel back speed#define wheel_speed_stop 0.0 //wheel stop speedenum{FORWARD_LEFT1,FORWARD_RIGHT,BACK_LEFT,BACK_RIGHT,STOP};//wheel namedvoid setup(){delay(1100);Serial.begin(Serial_Baud_Rate);mySerial.begin(BusServoSerialBaud);delay(1000);}void loop(){control_bus_steering_gear_test();// control single bus steering gear}void control_bus_steering_gear_test(){Car_Move(FORWARD_LEFT,wheel_speed_forward);delay(1000);Stop_car(); //left front wheel forwardCar_Move(FORWARD_LEFT,wheel_speed_back);delay(1000);Stop_car(); //left front wheel backwordCar_Move(FORWARD_RIGHT,wheel_speed_forward);delay(1000);Stop_car(); //right front wheel forwardCar_Move(FORWARD_RIGHT,wheel_speed_back);delay(1000);Stop_car(); //right front wheel backwordCar_Move(BACK_LEFT,wheel_speed_forward);delay(1000);Stop_car(); //left rear wheel forwardCar_Move(BACK_LEFT,wheel_speed_back);delay(1000);Stop_car(); //left rear wheel backwordCar_Move(BACK_RIGHT,wheel_speed_forward);delay(1000);Stop_car(); //right rear wheel backwordCar_Move(BACK_RIGHT,wheel_speed_back);delay(1000);Stop_car(); //right rear wheel backword}
② 将底盘轮子朝上观察每个轮子的转动效果。
2. 底盘的基本运动
实现思路 实现底盘前进、后退、左平移、右平移、左转、右转的功能。
操作步骤
① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_Car_Movement\Control_Car_Movement.ino
/*------------------------------------------------------------------------------------版权说明Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//** car action test (include:forward, back, turnleft,turnright, left translation, right translation)* ** IP address of bus steering gear* head* ID:001 ID:000* ___________* | |* | |* | |* | |* | |* | |* |___________|* ID:003 ID:002 * Rear end** 2020.8.7 by boris*/#define ActionDelayTimes 1000#define mySerial Serial2#define BusServoSerialBaud 115200#define wheel_speed_forward 0.08 //car forward speed#define wheel_speed_back -0.08 //car back speed#define wheel_speed_stop 0.0 //car stop speed#define wheel_speed_left 0.08 //car turnleft speed#define wheel_speed_right -0.08 //car turnright speed#define wheel_speed_left_translation 0.08 //speed of car left translation#define wheel_speed_right_translation -0.08 //speed of car right translationenum{FORWARD1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP}; //the movement state of the carfloat wheel_Speed[4]{0,0,0,0};char cmd_return[200];void setup(){delay(1000);Serial.begin(57600);delay(1000);//open serialmySerial.begin(BusServoSerialBaud);delay(1000);//open serial2car_move_test();}void loop(){//car_move_test();//car action test//car_stop();}void car_move_test()//car action test{Car_Move(FORWARD);delay(ActionDelayTimes); // forwardcar_stop();Car_Move(BACK);delay(ActionDelayTimes); // backcar_stop();Car_Move(LEFT_TRANSLATION);delay(ActionDelayTimes); //left translationcar_stop();Car_Move(RIGHT_TRANSLATION);delay(ActionDelayTimes);//right translationcar_stop();Car_Move(LEFT);delay(ActionDelayTimes); //turnleftcar_stop();Car_Move(RIGHT);delay(ActionDelayTimes); //turn rightcar_stop(); }
② 观察底盘的运动情况。 三、传感器使用
1. 底盘循迹-灰度传感器
实现思路 实现全向底盘可以按指定路线进行行走的功能实验场景如下图所示。 操作步骤
① 连接电路。如下图所示是全向底盘上的4个灰度接线但本实验中我们只需要用到头部的两个灰度传感器即可。 底盘的头部、尾部 头部的灰度传感器接42、44号引脚 ② 下载文末资料中的参考程序Base_Experiment\Tracking_Car\Tracking_Car.ino
/*------------------------------------------------------------------------------------版权说明Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//**Tracking Car** head* pin:42 pin:44* ___________* | |* | |* | |* | |* |___________|* pin:36 pin:34 * Rear end* 2020.8.7 by boris*/#define mySerial Serial2 //statement serial2#define Sensor_Numbers 4 //numbers of sensor#define Serial_Baud_Rate 115200 //serial port baud rate#define BusServoSerialBaud 115200//bus steering gear baud rate#define wheel_speed_forward 0.06 //car forward speed#define wheel_speed_back -0.06 //car back speed#define wheel_speed_stop 0.0 //car stop speed#define wheel_speed_left 0.1 //car turnleft speed#define wheel_speed_right -0.1 //car turnright speedenum{FORWARD1,BACK,LEFT,RIGHT,STOP};//the movement state of the carconst int Gray_Sensor_Pin[Sensor_Numbers] {44,42,36,34};//define gray sensor pinconst int GraySensorNumbers sizeof(Gray_Sensor_Pin)/sizeof(Gray_Sensor_Pin[0]);char cmd_return[200];void setup(){delay(1100);Serial.begin(Serial_Baud_Rate);Gray_Sensor_Init();mySerial.begin(BusServoSerialBaud);delay(1000);}void loop(){tracking_car();//car tracking//Car_Move(STOP);}void Gray_Sensor_Init()//sensor init{for(int i0;iSensor_Numbers;i){pinMode(Gray_Sensor_Pin[i],INPUT);delay(2);} delay(200);}void tracking_car() //car tracking{int sensor_data[Sensor_Numbers] {0,0,0,0};int sum 0;for(int i0;iSensor_Numbers-2;i){sensor_data[i] digitalRead(Gray_Sensor_Pin[i]);sum | sensor_data[i] i;} switch(sum){case 0: Car_Move(FORWARD); break;case 1: Car_Move(LEFT); break;case 2: Car_Move(RIGHT); break;case 3: Car_Move(FORWARD); break;default: break;}} ③ 观察全向底盘循迹的效果。
2. 底盘避障-超声测距
实现思路 实现全向底盘可以在模拟的场景下进行避障然后行进的功能实验场景如下图所示。 操作步骤
① 连接电路如下图所示是全向底盘的8个超声测距接线图。 ② 下载文末资料中的参考程序Base_Experiment\Avoiding_Obstacles_Car\Avoiding_Obstacles_Car.ino
/*------------------------------------------------------------------------------------版权说明Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//** Avoid obstacles car*** 车身位置及传感器接线:** // Y* // |* // |* // | t:53 t:8 * // | (ID:003) e:A15 e:9 (ID:001)* // | t:37 A - - - - - - - - - - - - - - - - - -Y: t:39* // | e:38 | | e:40* // | | | 车头* // | t:31 | | t:45* // | e:32 Z - - - - - - - - - - - - - - - - - -X: e:46* // | (ID:002) t:47 t:A13 (ID:000)* // | e:48 e:A14* // 0-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- X* * * 2020.8.7 by boris*/#define mySerial Serial2 //Serial port used by bus steering gear #define Serial_Baud_Rate 115200 //Serial Port baud rate#define BusServoSerialBaud 115200 //Bus steering gear baud rate#define wheel_speed_forward 0.04 //car forward speed#define wheel_speed_forward_up 0.06 //forward speed up#define wheel_speed_back -0.04 //car back speed#define wheel_speed_stop 0.0 //car stop speed#define wheel_speed_left 0.1 //car turnleft speed#define wheel_speed_right -0.1 //car turnright speed#define wheel_speed_left_translation 0.04 //speed of car left translation#define wheel_speed_right_translation -0.04 //speed of car right translationenum{FORWARD1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP,FORWARD_UP}; //the movement state of the carchar cmd_return[200];float wheel_Speed[4]{0,0,0,0};void setup(){delay(1100);Serial.begin(Serial_Baud_Rate);init_Ultrasonic();delay(200);mySerial.begin(BusServoSerialBaud);delay(1000);}void loop(){//Car_Move(STOP);delay(1000);car_move();//get_ultrasonic_sensor_data();} ③ 观察全向底盘避障的效果。
程序源代码详见 桌面级全向底盘
