Zochitika pakupanga loboti yoyamba pa Arduino (loboti "hunter")

Hello

M'nkhaniyi ndikufuna kufotokoza ndondomeko yosonkhanitsa robot yanga yoyamba pogwiritsa ntchito Arduino. Nkhaniyi idzakhala yothandiza kwa oyamba kumene ngati ine omwe akufuna kupanga mtundu wina wa "ngolo yodziyendetsa." Nkhaniyi ndi kufotokozera kwa magawo ogwira ntchito ndi zowonjezera zanga pamitundu yosiyanasiyana. Ulalo wa code yomaliza (yomwe mwina si yabwino kwambiri) waperekedwa kumapeto kwa nkhaniyo.

Zikakhala zotheka, ndinkathandiza mwana wanga (wazaka 8) kutenga nawo mbali. Zomwe zidagwira ntchito ndi zomwe sizinachitike - ndapereka gawo la nkhaniyi ku izi, mwina zitha kukhala zothandiza kwa wina.

Kufotokozera kwa robot

Choyamba, mawu ochepa okhudza robotiyo (lingaliro). Sindinafune kusonkhanitsa chinthu chokhazikika poyambira. Pa nthawi yomweyo, ya zigawo zikuluzikulu ndithu muyezo - galimotoyo, injini, akupanga sensa, kachipangizo mzere, LEDs, tweeter. Poyamba, loboti idapangidwa kuchokera ku "supu" iyi yomwe imateteza gawo lake. Amayendetsa galimoto kwa wolakwayo yemwe wadutsa mzere wozungulira, kenako amabwerera pakati. Komabe, mtundu uwu unkafuna mzere wokokedwa, kuphatikiza masamu owonjezera kuti azikhala mozungulira nthawi zonse.

Chifukwa chake, nditaganiza, ndidasintha lingalirolo ndikusankha kupanga loboti "yosaka". Pachiyambi, imatembenuka mozungulira, ndikusankha chandamale chapafupi (munthu). Ngati "nyama" ipezeka, "mlenje" amayatsa nyali zowala ndi siren ndikuyamba kuyendetsa galimotoyo. Pamene munthuyo akuchoka / kuthawa, robot imasankha chandamale chatsopano ndikuchitsatira, ndi zina zotero. Roboti yotereyi safuna bwalo lochepa, ndipo imatha kugwira ntchito m'malo otseguka.

Monga mukuonera, izi ndizofanana ndi masewera othamanga. Ngakhale kuti pamapeto pake robotyo sinakhale yofulumira, imagwirizana moona mtima ndi anthu ozungulira. Ana amakonda kwambiri (nthawi zina, komabe, zikuwoneka kuti atsala pang'ono kuzipondaponda, mtima wawo umadumpha ...). Ndikuganiza kuti iyi ndi njira yabwino yolimbikitsira luso laukadaulo.

Mapangidwe a robot

Kotero, tasankha pa lingalirolo, tiyeni tipitirire kamangidwe. Mndandanda wa zinthu umapangidwa kuchokera ku zomwe loboti iyenera kuchita. Chilichonse apa ndi chodziwikiratu, kotero tiyeni tiwone nthawi yomweyo manambala:

"Ubongo" wa robot ndi bolodi ya arduino uno (1); inali mu seti yochokera ku China. Pazolinga zathu, ndizokwanira (timayang'ana pa kuchuluka kwa zikhomo zomwe zimagwiritsidwa ntchito). Kuchokera pa zida zomwezo tinatenga chassis (2), pomwe mawilo awiri oyendetsa (3) ndi amodzi kumbuyo (ozungulira momasuka) (4) amamangidwira. Chidacho chinalinso ndi batire yopangidwa kale (5). Kutsogolo kwa loboti pali ultrasonic sensor (HC-SR04) (6), kumbuyo kuli woyendetsa galimoto (L298N) (7), pakati pali chowunikira cha LED (8), ndi pang'ono pambali pali tweeter (9).

Pa siteji ya kupanga timayang'ana:

- kuti zonse zigwirizane
- kukhala wolinganiza
- kuyikidwa mwanzeru

Anzathu aku China atichitira kale izi. Kotero, chipinda cha batri cholemera chimayikidwa pakati, ndipo mawilo oyendetsa amakhala pafupifupi pansi pake. Ma matabwa ena onse ndi opepuka ndipo amatha kuikidwa pamphepete.

Zovuta:

1. Chassis yochokera ku zidayi ili ndi mabowo ambiri a fakitale, koma sindinadziwebe zomwe zili mkati mwake. Injini ndi paketi ya batri idatetezedwa popanda mavuto, ndiye "kusintha" kunayamba ndikubowola mabowo atsopano kuti ateteze izi kapena bolodi.
2. Zomangamanga zamkuwa ndi zomangira zina zochokera kumalo osungirako zinali chithandizo chachikulu (nthawi zina tinkayenera kuzitulutsa).
3. Ndinadutsa mabasi kuchokera ku bolodi lililonse kupyolera muzitsulo (kachiwiri, ndinazipeza posungira). Zothandiza kwambiri, mawaya onse amagona bwino ndipo samalendewera.

midadada payekha

Tsopano ndidutsa midadada ndipo ine ndikuwuzani inu panokha za aliyense.

chipinda cha batri

Zikuwonekeratu kuti lobotiyo iyenera kukhala ndi gwero labwino lamphamvu. Zosankha zitha kusiyanasiyana, ndasankha njirayo ndi mabatire a 4 AA. Okwana amapereka pafupifupi 5 V, ndi voteji akhoza mwachindunji ntchito 5V pini wa bolodi arduino (kulambalalitsa stabilizer).

Inde, ndinali ndi chenjezo, koma yankho ili ndilothandiza.

Popeza mphamvu ikufunika kulikonse, kuti zikhale zosavuta ndinapanga zolumikizira ziwiri pakati pa loboti: imodzi "imagawa" pansi (kumanja), ndipo yachiwiri - 5 V (kumanzere).

Motors ndi driver

Choyamba, za kukwera injini. Phiri limapangidwa ndi fakitale, koma limapangidwa ndi kulolerana kwakukulu. Mwanjira ina, ma injini amatha kugwedezeka mamilimita angapo kumanzere ndi kumanja. Kwa ntchito yathu izi sizili zovuta, koma m'malo ena zingakhale ndi zotsatira (roboti idzayamba kusunthira kumbali). Zikatero, ndimayika injinizo kuti zifanane ndikuziyika ndi guluu.

Kuwongolera ma motors, monga ndidalemba pamwambapa, dalaivala wa L298N amagwiritsidwa ntchito. Malinga ndi zolembedwazo, ili ndi zikhomo zitatu pagalimoto iliyonse: imodzi yosinthira liwiro ndi mapini awiri kuti ayende mozungulira. Pali mfundo imodzi yofunika apa. Zikuoneka kuti ngati mphamvu voteji ndi 5 V, ndiye kuwongolera liwiro sikugwira ntchito! Ndiko kuti, mwina sichitembenuka konse, kapena kutembenukira kumtunda. Izi ndi zomwe zidandipangitsa "kupha" mausiku angapo. Pamapeto pake, ndinapeza kutchulidwa kwinakwake pa imodzi mwamabwalo.

Nthawi zambiri, ndimafunikira liwiro lozungulira potembenuza loboti - kuti ikhale ndi nthawi yoyang'ana malo. Koma, popeza palibe chomwe chinabwera ndi lingaliro ili, ndinayenera kuchita mosiyana: kutembenuka kwapang'ono - kuyimitsa - kutembenuka - kuyimitsa, etc. Apanso, osati zokongola, koma zogwira ntchito.

Ndiwonjezanso apa kuti pambuyo poti loboti iliyonse ikathamangitsa imasankha njira yolowera mwachisawawa kuti itembenuke kwatsopano (motsatira wotchi kapena kubwereza).

Akupanga sensa

Chigawo china cha hardware chomwe tinkayenera kuyang'ana njira yothetsera vuto. Sensa ya akupanga imapanga manambala osakhazikika pa zopinga zenizeni. Kwenikweni, izi zinali kuyembekezera. Momwemo, zimagwira ntchito kwinakwake pamipikisano komwe kuli malo osalala, ngakhale ndi perpendicular, koma ngati miyendo ya wina "ikuwomba" patsogolo pake, ndondomeko yowonjezera iyenera kuyambitsidwa.

Momwemonso processing ndinayika fyuluta yapakatikati kwa ziwerengero zitatu. Kutengera kuyesedwa kwa ana enieni (palibe ana omwe adavulazidwa panthawi ya mayeso!), Zinapezeka kuti zinali zokwanira kusinthiratu deta. Fiziki apa ndiyosavuta: tili ndi ma sign omwe akuwonetsedwa kuchokera zofunika zinthu (kupereka mtunda wofunikira) ndikuwonetsa kuchokera kutali, mwachitsanzo, makoma. Zotsirizirazi ndi zotulutsa mwachisawawa mumiyezo ya fomu 45, 46, 230, 46, 46, 45, 45, 310, 46... Ndi izi zomwe fyuluta yapakatikati imadula.

Pambuyo pokonza zonse, timapeza mtunda wa chinthu chapafupi. Ngati ili yochepa kuposa mtengo wina, ndiye kuti timayatsa alamu ndikuyendetsa molunjika kwa "wolowerera".

Flasher ndi siren

Mwina zinthu zosavuta zonse zomwe zili pamwambapa. Zitha kuwoneka pazithunzi pamwambapa. Palibe cholembera za hardware apa, kotero tsopano tiyeni tipitirire kachidindo.

Control pulogalamu

Sindikuwona mfundo yofotokozera kachidindo mwatsatanetsatane, yemwe amafunikira - ulalo uli kumapeto kwa nkhaniyi, zonse zimawerengedwa pamenepo. Koma zingakhale bwino kufotokoza dongosolo lonse.

Chinthu choyamba chimene tinayenera kumvetsetsa chinali chakuti robot ndi chipangizo cha nthawi yeniyeni. Ndendende, kukumbukira, chifukwa kale komanso tsopano ndimagwirabe ntchito zamagetsi. Choncho, nthawi yomweyo timayiwala za vutoli kuchedwa (), zomwe amakonda kugwiritsa ntchito mwachitsanzo zojambula, zomwe zimango "kuzizira" pulogalamuyo kwa nthawi yodziwika. M'malo mwake, monga momwe anthu odziwa zambiri amalangizira, timadziwikiratu zowerengera nthawi pa block iliyonse. Nthawi yofunikira yadutsa - zochitikazo zachitika (kuwonjezera kuwala kwa LED, kuyatsa injini, ndi zina zotero).

Zowerengera zimatha kulumikizidwa. Mwachitsanzo, tweeter imagwira ntchito mofanana ndi flasher. Izi zimathandizira pulogalamuyo pang'ono.

Mwachibadwa, timaphwanya chirichonse kukhala ntchito zosiyana (zowunikira zowunikira, phokoso, kutembenuka, kupita patsogolo, ndi zina zotero). Ngati simuchita izi, ndiye kuti simungathe kudziwa zomwe zimachokera kuti ndi kuti.

Mitundu ya pedagogy

Ndinachita zonse zomwe zafotokozedwa pamwambapa panthawi yanga yopuma madzulo. Mwachifatse, ndinathera pafupifupi milungu itatu pa loboti. Izi zikanatha apa, koma ndinalonjezanso kukuuzani za ntchito ndi mwana. Pamsinkhu umenewu tingatani?

Gwirani ntchito motsatira malangizo

Poyamba tidayang'ana tsatanetsatane aliyense payekhapayekha - ma LED, ma tweeter, ma mota, masensa, ndi zina zambiri. Pali zitsanzo zambiri zokonzeka - zina zomwe zili m'malo otukuka, zina zitha kupezeka pa intaneti. Zimenezi zimandisangalatsadi. Timatenga kachidindo, kugwirizanitsa gawolo, kuonetsetsa kuti likugwira ntchito, ndiyeno timayamba kusintha kuti zigwirizane ndi ntchito yathu. Mwanayo amalumikizana molingana ndi chithunzicho komanso moyang'aniridwa ndi ine. Izi ndi zabwino. Muyeneranso kuti athe kugwira ntchito mosamalitsa malinga ndi malangizo.

Dongosolo la ntchito ("kuchokera makamaka mpaka wamba")

Iyi ndi mfundo yovuta. Muyenera kudziwa kuti ntchito yayikulu ("panga loboti") imakhala ndi ntchito zing'onozing'ono ("kulumikiza sensa," "kulumikiza ma mota"...), ndipo izi zimakhala ndi masitepe ang'onoang'ono ("pezani pulogalamu," "kulumikiza bolodi." "," tsitsani fimuweya"...). Pochita ntchito zomveka bwino zapansi, "timatseka" ntchito zapakati, ndipo kuchokera kwa iwo zotsatira zonse zimapangidwa. Ndinalongosola, koma ndikuganiza kuti kuzindikira sikudzabwera posachedwa. Penapake, mwina, mwa unyamata.

Kupaka

Kubowola, ulusi, zomangira, mtedza, soldering ndi fungo la rosin - tikanakhala kuti popanda izo? Mwanayo adalandira luso lofunikira "Kugwira ntchito ndi chitsulo chosungunulira" - adakwanitsa kugulitsa maulalo angapo (ndinathandiza pang'ono, sindidzabisala). Musaiwale za kufotokozera zachitetezo.

Ntchito zamakompyuta

Ndinalemba pulogalamu ya robot, koma ndinakwanitsa kupeza zotsatira zabwino.

Choyamba: Chingerezi. Anali atangoyamba kumene kusukulu, choncho tinali kuvutika kuti tidziwe kuti pishalka, migalka, yarkost ndi zomasulira zina zinali zotani. Osachepera tinamvetsetsa izi. Mwadala sindinagwiritse ntchito mawu achingelezi, popeza sitinafikebe pamlingo uwu.

Chachiwiri: ntchito yabwino. Tidaphunzitsa kuphatikiza ma hotkey ndi momwe mungapangire magwiridwe antchito mwachangu. Nthawi ndi nthawi, pamene tinali kulemba pulogalamuyo, ine ndi mwana wanga tinasinthana malo, ndipo ndinanena zomwe ziyenera kuchitika (kulowetsa, kufufuza, ndi zina zotero). Ndinayenera kubwereza mobwerezabwereza: "dinani-kawiri kusankha", "kugwira Shift", "kugwira Ctrl" ndi zina zotero. Kuphunzira pano sikuli kofulumira, koma ndikuganiza kuti luso lidzayikidwa pang'onopang'ono "mu subcortex."

Mawu obisikaMutha kunena kuti zomwe zili pamwambazi ndi zoonekeratu. Koma, moona mtima, kugwa uku ndinali ndi mwayi wophunzitsa sayansi ya makompyuta mu giredi 9 pasukulu ina. Ndizowopsa. Ophunzira sadziwa zinthu zofunika monga Ctrl + Z, Ctrl + C ndi Ctrl + V, kusankha malemba akugwira Shift kapena kuwirikiza kawiri pa liwu, ndi zina zotero. Izi zili choncho ngakhale kuti anali m'chaka chawo chachitatu cha maphunziro a sayansi ya makompyuta ... Lembani yankho lanu.

Chachitatu: kulemba mokhudza. Ndemanga zomwe zili mu code ndidapereka kwa mwanayo kuti alembe (musiyeni ayese). Nthawi yomweyo tinaika manja athu molondola kuti zala zathu zikumbukire pang'onopang'ono malo a makiyiwo.

Monga mukuonera, tikuyambabe. Tidzapitiriza kukulitsa luso lathu ndi chidziwitso chathu; zidzakhala zothandiza m'moyo.

Mwa njira, zamtsogolo ...

Kukula kopitilira

Robotiyo imapangidwa, imayendetsa, imathwanima komanso imayimba. Bwanji tsopano? Chifukwa cholimbikitsidwa ndi zomwe tapeza, tikukonzekera kuzikonza mopitilira. Pali lingaliro lopanga chowongolera chakutali - ngati rover ya mwezi. Zingakhale zosangalatsa, kukhala patali, kuyang'anira kayendetsedwe ka robot yomwe ikuyendetsa malo osiyana kwambiri. Koma izi zikhala nkhani ina...

Ndipo pamapeto pake, ngwazi za nkhaniyi (kanema podina):

Zikomo chifukwa cha chidwi chanu!

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Source: www.habr.com