(SKU:ROB0118)3PA基础套件

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目录

功能介绍

以3PA小车为平台,用超声波作为距离检测装置,舵机作为前方扫描器,实现一个可自动蔽障小车。


STEP1:组装小车

参照安装说明

注意事项:

1. 在安装说明中没有说明电机电源线连接,建议安装前先将电机的电源线焊接好。便于之后安装。

3PA 1.png

2. 安装完底盘之后,按下图连接电机线和电源线。

电机连接
实物图


STEP2:调试电机

下载电机调试代码

int speedPin_M1 = 5;     //M1 Speed Control
int speedPin_M2 = 6;     //M2 Speed Control
int directionPin_M1 = 4;     //M1 Direction Control
int directionPin_M2 = 7;     //M1 Direction Control

void setup(){ 
                              
}

void loop(){
    carAdvance(100,100);
    delay(1000);
    carBack(100,100);
    delay(1000);
    carTurnLeft(250,250);
    delay(1000);
    carTurnRight(250,250);
    delay(1000);
}

void carStop(){                 //  Motor Stop
  digitalWrite(speedPin_M2,0); 
  digitalWrite(directionPin_M1,LOW);    
  digitalWrite(speedPin_M1,0);   
  digitalWrite(directionPin_M2,LOW);    
}   

void carAdvance(int leftSpeed,int rightSpeed){         //Move forward
  analogWrite (speedPin_M2,leftSpeed);              //PWM Speed Control
  digitalWrite(directionPin_M1,HIGH);    
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,HIGH);
} 

void carBack(int leftSpeed,int rightSpeed){       //Move backward
  analogWrite (speedPin_M2,leftSpeed);
  digitalWrite(directionPin_M1,LOW);   
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,LOW);
}

void carTurnRight(int leftSpeed,int rightSpeed){           //Turn Right   
  analogWrite (speedPin_M2,leftSpeed);
  digitalWrite(directionPin_M1,LOW);    
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,HIGH);
}
void carTurnLeft(int leftSpeed,int rightSpeed){          //Turn Left
  analogWrite (speedPin_M2,leftSpeed);
  digitalWrite(directionPin_M1,HIGH);    
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,LOW);
}


上电后发现,如果发现效果与代码不匹配,可以对代码做一下微调整。直到匹配为止,才进行下一步。


STEP3:安装上层板

1. 准备材料

Cherokey RomeoBLE3.png


2. 固定超声波位置

可以参看超声波扫描套件的安装手册


3. 固定舵机位置

3PA 3.png


STEP4: 调试超声波和舵机

1. 硬件连接

超声波、舵机控制


实物图


2. 下载代码
下载代码之前需要安装Metro libray

如何加载库,可见链接

#include <Servo.h> 
#include <Metro.h>
Metro measureDistance = Metro(50);
Metro sweepServo = Metro(20);

unsigned long actualDistance = 0;

Servo myservo;  // create servo object to control a servo 
int pos = 60; 
int sweepFlag = 1;


int URPWM = 3; // PWM Output 0-25000US,Every 50US represent 1cm
int URTRIG= 10; // PWM trigger pin
uint8_t EnPwmCmd[4]={0x44,0x02,0xbb,0x01};    // distance measure command
 
void setup(){                                 // Serial initialization
  myservo.attach(9); 
  Serial.begin(9600);                         // Sets the baud rate to 9600
  SensorSetup();
}
 
void loop(){
 if(measureDistance.check() == 1){
      actualDistance = MeasureDistance();
//      Serial.println(actualDistance);
//      delay(100);
 }
 
 if(sweepServo.check() == 1){
      servoSweep();
 }
 
}

void SensorSetup(){ 
  pinMode(URTRIG,OUTPUT);                     // A low pull on pin COMP/TRIG
  digitalWrite(URTRIG,HIGH);                  // Set to HIGH 
  pinMode(URPWM, INPUT);                      // Sending Enable PWM mode command
  for(int i=0;i<4;i++){
      Serial.write(EnPwmCmd[i]);
   } 
}

int MeasureDistance(){        // a low pull on pin COMP/TRIG  triggering a sensor reading
    digitalWrite(URTRIG, LOW);
    digitalWrite(URTRIG, HIGH);               // reading Pin PWM will output pulses    
    unsigned long distance=pulseIn(URPWM,LOW);    
    if(distance==50000){              // the reading is invalid.
      Serial.print("Invalid");    
    }else{
      distance=distance/50;           // every 50us low level stands for 1cm
    }
    return distance;
}

void servoSweep(){
  if(sweepFlag ){  
     if(pos>=60 && pos<=120){                   
        pos=pos+1;                                  // in steps of 1 degree 
        myservo.write(pos);                         // tell servo to go to position in variable 'pos' 
    }
      if(pos>119)  sweepFlag = false;                       // assign the variable again
  }else {                                       
      if(pos>=60 && pos<=120){    
        pos=pos-1;
        myservo.write(pos);
      }
      if(pos<61)  sweepFlag = true;
   }
}

3. 调试舵机位置
方法一:可重新安装舵盘
方法二:代码中角度做相应修改


STEP5: 整机调试

下载整机调试代码

#include <Servo.h> 
#include <Metro.h>
Metro measureDistance = Metro(50);
Metro sweepServo = Metro(20);

int speedPin_M1 = 5;     //M1 Speed Control
int speedPin_M2 = 6;     //M2 Speed Control
int directionPin_M1 = 4;     //M1 Direction Control
int directionPin_M2 = 7;     //M1 Direction Control
unsigned long actualDistance = 0;

Servo myservo;  // create servo object to control a servo 
int pos = 60; 
int sweepFlag = 1;

int URPWM = 3; // PWM Output 0-25000US,Every 50US represent 1cm
int URTRIG= 10; // PWM trigger pin
uint8_t EnPwmCmd[4]={0x44,0x02,0xbb,0x01};    // distance measure command
 
void setup(){                                 // Serial initialization
  myservo.attach(9); 
  Serial.begin(9600);                         // Sets the baud rate to 9600
  SensorSetup();
}
 
void loop(){

 if(measureDistance.check() == 1){
      actualDistance = MeasureDistance();
//      Serial.println(actualDistance);
//      delay(100);
 }
 
 if(sweepServo.check() == 1){
      servoSweep();
 }
 
 if(actualDistance <= 30){
            myservo.write(90);
            if(pos>=90){              
//                  carBack(100,100);
////                  Serial.println("carBack");
//                  delay(100);                  
                  carTurnRight(150,150);
//                  Serial.println("carTurnRight");
                  delay(100);
               }else{
//                   carBack(100,100);
////                   Serial.println("carBack");
//                   delay(100);
                   carTurnLeft(150,150);
//                   Serial.println("carTurnLeft");
                   delay(100);
               }
    }else{
                   carAdvance(70,70);
//                   Serial.println("carAdvance");
                   delay(100);
     }
//        carBack(150,150);
}
                                     
 
void SensorSetup(){ 
  pinMode(URTRIG,OUTPUT);                     // A low pull on pin COMP/TRIG
  digitalWrite(URTRIG,HIGH);                  // Set to HIGH 
  pinMode(URPWM, INPUT);                      // Sending Enable PWM mode command
  for(int i=0;i<4;i++){
      Serial.write(EnPwmCmd[i]);
   } 
}

 
int MeasureDistance(){  // a low pull on pin COMP/TRIG  triggering a sensor reading
    digitalWrite(URTRIG, LOW);
    digitalWrite(URTRIG, HIGH);               // reading Pin PWM will output pulses    
    unsigned long distance=pulseIn(URPWM,LOW);    
    if(distance==50000){              // the reading is invalid.
      Serial.print("Invalid");    
    }else{
      distance=distance/50;           // every 50us low level stands for 1cm
    }
    return distance;
}

void carStop(){                 //  Motor Stop
  digitalWrite(speedPin_M2,0); 
  digitalWrite(directionPin_M1,LOW);    
  digitalWrite(speedPin_M1,0);   
  digitalWrite(directionPin_M2,LOW);    
}   

void carAdvance(int leftSpeed,int rightSpeed){         //Move forward
  analogWrite (speedPin_M2,leftSpeed);              //PWM Speed Control
  digitalWrite(directionPin_M1,HIGH);    
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,HIGH);
} 

void carBack(int leftSpeed,int rightSpeed){       //Move backward
  analogWrite (speedPin_M2,leftSpeed);
  digitalWrite(directionPin_M1,LOW);   
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,LOW);
}

void carTurnRight(int leftSpeed,int rightSpeed){           //Turn Right   
  analogWrite (speedPin_M2,leftSpeed);
  digitalWrite(directionPin_M1,LOW);    
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,HIGH);
}

void carTurnLeft(int leftSpeed,int rightSpeed){          //Turn Left
  analogWrite (speedPin_M2,leftSpeed);
  digitalWrite(directionPin_M1,HIGH);    
  analogWrite (speedPin_M1,rightSpeed);    
  digitalWrite(directionPin_M2,LOW);
}
void servoSweep(){
  if(sweepFlag){  
     if(pos>=60 && pos<=120){                   
        pos=pos+1;                                  // in steps of 1 degree 
        myservo.write(pos);                         // tell servo to go to position in variable 'pos' 
    }
      if(pos>119)  sweepFlag = false;                       // assign the variable again
  }
   else {                                       
      if(pos>=60 && pos<=120){    
        pos=pos-1;
        myservo.write(pos);
      }
      if(pos<61)  sweepFlag = true;
    }
}

你的专属小车就此诞生!

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