makadii
Muchikamu chino ndinoda kutsanangura maitiro ekuunganidza robhoti yangu yekutanga uchishandisa Arduino. Izvo zvinyorwa zvichave zvinobatsira kune vamwe vanotanga seni vanoda kugadzira imwe mhando ye "yega inomhanya ngoro." Chinyorwa ichi rondedzero yematanho ekushanda pamwe nekuwedzera kwangu pane akasiyana nuances. Chinongedzo kune yekupedzisira kodhi (kazhinji isiri iyo yakanyanya kunaka) inopihwa pakupera kwechinyorwa.
Pose pazvaibvira, ndaibatanidza mwanakomana wangu (ane makore 8) mukubatanidzwawo. Chii chakanyatsoshanda nacho uye chii chisina - ndakatsaurira chikamu chechinyorwa kune izvi, pamwe chingave chinobatsira kune mumwe munhu.
Tsanangudzo yerobhoti
Kutanga, mazwi mashoma nezve irobhoti pachayo (pfungwa) Ini ndakanga ndisingadi kuunganidza chimwe chinhu chakajairwa pakutanga. Panguva imwecheteyo, seti yezvikamu zvaive zvakajairwa - chassis, injini, ultrasonic sensor, mutsara sensor, LEDs, tweeter. Pakutanga, robhoti yakagadzirwa kubva kune iyi "soup set" inorinda nharaunda yayo. Anotyaira akananga kumupari wemhosva ayambuka mutsara wedenderedzwa, odzokera pakati. Nekudaro, iyi vhezheni yaida mutsara wakadhirowewa, pamwe nekuwedzera masvomhu kuti ugare uri mudenderedzwa nguva dzese.
Nokudaro, mushure meimwe pfungwa, ndakashandura pfungwa yacho uye ndakasarudza kugadzira robhoti "muvhimi". Pakutanga, inotenderedza axis yayo, ichisarudza chinangwa chiri pedyo (munhu). Kana "mhuka" yakaonekwa, "muvhimi" anobatidza mwenje inopenya uye siren uye anotanga kutyaira akananga kwairi. Kana munhu wacho achienda kure / kutiza, robot inosarudza chinangwa chitsva uye ichitevera, nezvimwe zvakadaro. Robhoti yakadaro haidi denderedzwa shoma, uye inogona kushanda munzvimbo dzakashama.
Sezvauri kuona, izvi zvakangofanana nemutambo wekubata-bata. Kunyange zvazvo pakupedzisira robhoti haina kukurumidza kukurumidza, inopindirana nokutendeseka nevanhu vakaipoteredza. Vana vanonyanya kuida (dzimwe nguva, zvisinei, zvinoita sekunge vava kuda kuitsika-tsika, mwoyo yavo inosvetuka ...). Ini ndinofunga iyi ndiyo mhinduro yakanaka yekuparidzira dhizaini yekugadzira.
Robhoti chimiro
Saka, isu takasarudza pane zano, ngatienderere mberi layout. Rondedzero yezvinhu inoumbwa kubva pane izvo robhoti inofanirwa kukwanisa kuita. Zvese zviri pano zviri pachena, saka ngatitarisei manhamba:
Iyo "brains" yerobhoti ndeye arduino uno board (1); yaive museti yakarairwa kubva kuChina. Nezvinangwa zvedu, zvakakwana zvakakwana (tinotarisa pahuwandu hwepini dzinoshandiswa). Kubva pakiti imwechete takatora chassis yakagadzirwa yakagadzirira (2), iyo inosungirirwa mavhiri maviri (3) uye imwe kumashure (inotenderera zvakasununguka) (4). Iyo kit zvakare yaisanganisira yakagadzirira-yakagadzirwa bhatiri kamuri (5). Pamberi perobhoti pane ultrasonic sensor (HC-SR04) (6), kumashure kune mutyairi wemota (L298N) (7), pakati pane mwenje we LED (8), uye zvishoma parutivi pane tweeter (9).
Padanho rekugadzirisa tinotarisa:
- kuitira kuti zvinhu zvose zvienderane
- kuva pakati nepakati
- kuiswa zvine mwero
Vatinoshanda navo vekuChina vakatotiitira izvi zvishoma. Saka, iyo inorema bhatiri kamuri inoiswa pakati, uye mavhiri ekutyaira anowanikwa anenge pasi payo. Mamwe mapuranga ese ane huremu uye anogona kuiswa padivi.
Nuances:
- Iyo chassis kubva kukiti ine akawanda maburi efekitori, asi ini handisati ndaziva kuti pfungwa iri mavari chii. Injini uye bhatiri pack zvakachengetedzwa pasina matambudziko, ipapo "kugadzirisa" kwakatanga nekuchera maburi matsva kuchengetedza izvi kana kuti bhodhi.
- Zvishongo zvendarira uye zvimwe zvigadziro kubva munzvimbo dzekuchengetedza zvaive rubatsiro rukuru (dzimwe nguva taifanira kuvabudisa kunze).
- Ndakapfuura mabhasi kubva kune imwe neimwe bhodhi kuburikidza nemagetsi (zvakare, ndakavawana mukuchengetedza). Yakanyanya nyore, waya dzese dzinonyepa zvakanaka uye hadzirembedze.
Mabhuroko ega ega
Zvino ndichapfuura blocks uye ini ndichakuudza iwe pachako nezve mumwe nemumwe.
bhatiri kamuri
Zviri pachena kuti robhoti inofanira kuva nesimba rakanaka. Sarudzo dzinogona kusiyana, ndakasarudza sarudzo ine 4 AA mabhatiri. Pakazara vanopa angangoita 5 V, uye iyi voltage inogona kuiswa zvakananga kune 5V pini yearduino board (bypassing the stabilizer).
Ehe, ndakave nekuchenjerera, asi mhinduro iyi inoshanda chaizvo.
Sezvo simba richidiwa kwese kwese, kuti zvive nyore ndakaita zvibatanidza zviviri pakati perobhoti: imwe "inogovera" pasi (kurudyi), uye yechipiri - 5 V (kuruboshwe).
Motors uye mutyairi
Kutanga, nezve kukwirisa injini. Gomo rakagadzirwa nefekitari, asi rakagadzirwa nekushivirira kukuru. Mune mamwe mazwi, injini dzinogona kuzununguka akati wandei mamirimita kuruboshwe uye kurudyi. Kune basa redu izvi hazvisi zvakakosha, asi mune dzimwe nzvimbo zvinogona kuva nemigumisiro (robhoti inotanga kutamira kune rumwe rutivi). Zvingoitika, ini ndinoisa injini dzakanyatsoenderana uye ndikadzimisa neglue.
Kudzora mota, sezvandanyora pamusoro, mutyairi weL298N anoshandiswa. Zvinoenderana nezvinyorwa, ine mapini matatu emota imwe neimwe: imwe yekuchinja kumhanya uye peya yepini yekutenderera kutenderera. Pane chinhu chimwe chakakosha apa. Zvinoitika kuti kana iyo yekugovera voltage iri 5 V, ipapo kukurumidza kutonga hakushande! Ndiko kuti, ingave haina kutendeuka zvachose, kana inotendeukira kune yakanyanya. Ichi ndicho chimiro chakaita kuti "ndiuraye" mamwe manheru. Pakupedzisira, ndakawana kutaurwa kumwe pane imwe yemaforamu.
Kazhinji kutaura, ndaida yakaderera kutenderera kumhanya pakushandura robhoti - kuti ive nenguva yekutarisa nzvimbo. Asi, sezvo pasina chakauya chepfungwa iyi, ndaifanira kuzviita zvakasiyana: kutendeuka kuduku - kumira - kutendeuka - kumira, etc. Zvakare, kwete zvakanyanya kunaka, asi zvinoshanda.
Ini ndichawedzerawo pano kuti mushure mekutsvaga kwega kwega robhoti inosarudza nzira isina kujairika yekuchinja kutsva (wachi kana clockwise).
Ultrasonic sensor
Chimwe chidimbu chehardware kwataifanira kutsvaga mhinduro yekukanganisa. Iyo ultrasonic sensor inogadzira nhamba dzisina kugadzikana pane zvipingamupinyi chaizvo. Chaizvoizvo, izvi zvaitarisirwa. Nenzira yakanaka, inoshanda kune imwe nzvimbo mumakwikwi uko kune nzvimbo dzakatsetseka, kunyange uye perpendicular, asi kana makumbo emumwe munhu "achipenya" pamberi payo, kuwedzerwa kwekugadzirisa kunoda kuiswa.
Sezvo zvakadaro processing ndinoisa kwezvikamu zvitatu. Zvichienderana nemiedzo yevana chaivo (hapana vana vakakuvadzwa panguva yekuyedzwa!), Zvakazove zvakakwana kuti zvigadzirise data. Iyo fizikisi pano iri nyore: isu tine masaini anoratidzwa kubva zvakakodzera zvinhu (kupa chinhambwe chinodiwa) uye chinoratidzwa kubva kune kure kure, semuenzaniso, madziro. Iwo ekupedzisira ndeekubuda zvisina tsarukano muzviyero zvefomu 45, 46, 230, 46, 46, 45, 45, 310, 46... Ndiwo aya anodimburwa sefa yepakati.
Mushure mekugadzirisa kwese, tinowana chinhambwe kune chinhu chiri pedyo. Kana iri pasi pehumwe kukosha kwechikumbaridzo, tobva tabatidza alarm totyaira takananga ku "intruder".
Flasher uye siren
Zvichida zvinhu zvakapfava pane zvese zviri pamusoro. Vanogona kuonekwa mumifananidzo iri pamusoro. Hapana chekunyora nezve Hardware pano, saka ikozvino ngatienderere mberi kodhi.
Kudzora chirongwa
Ini handisi kuona chinangwa chekutsanangura kodhi zvakadzama, ndiani anoida - chinongedzo chiri kumagumo echinyorwa, zvese zvinoverengeka ipapo. Asi zvingava zvakanaka kutsanangura iyo general structure.
Chinhu chekutanga chataifanira kunzwisisa ndechekuti robhoti mudziyo wenguva chaiyo. Kunyanya, kurangarira, nekuti zvese zvisati zvaitika uye zvino ndichiri kushanda mumagetsi. Saka, tinobva tangokanganwa nezve dambudziko kunonoka (), iyo yavanoda kushandisa mumuenzaniso sketches, uye inongo "kuomesa" chirongwa kwenguva yakatarwa. Pane kudaro, sekurayira kunoita vanhu vane ruzivo, tinosuma zvibatiso zvenguva zvebhuroko rega rega. Nguva inodiwa yakapfuura - chiito chaitwa (chakawedzera kupenya kwe LED, kuvhura injini, zvichingodaro).
Nguva dzinogona kubatanidzwa. Semuenzaniso, iyo tweeter inoshanda synchronously neflasher. Izvi zvinorerutsa chirongwa zvishoma.
Nomuzvarirwo, tinopwanya zvinhu zvese muzvikamu zvakasiyana (mwenje unopenya, ruzha, kutendeuka, kufambira mberi, zvichingodaro). Kana iwe ukasaita izvi, saka haugone kufunga kuti chii chiri kubva kupi uye kupi.
Nuances of pedagogy
Ndakaita zvose zvakatsanangurwa pamusoro apa munguva yangu yekusununguka manheru. Ndakapedza dzinenge vhiki nhatu ndiri parobhoti. Izvi zvingadai zvakaperera pano, asi ndakavimbisawo kukuudzai nezvekushanda nemwana. Chii chingaitwa pazera iri?
Shanda maererano nemirayiridzo
Isu takatanga taongorora tsanangudzo yega yega zvakasiyana - maLED, tweeter, motors, sensors, etc. Kune nhamba huru yemienzaniso yakagadzirwa-yakagadzirirwa - mamwe ari munharaunda yekusimudzira, mamwe anogona kuwanikwa paInternet. Izvi zvinondifadza zvechokwadi. Isu tinotora kodhi, batanidza chikamu, ita shuwa kuti inoshanda, tobva tatanga kuishandura kuti ienderane nebasa redu. Mwana anoita zvibatanidza zvinoenderana nedhiyagiramu uye pasi pehumwe hutarisi hwangu. Izvi zvakanaka. Iwe unofanirwawo kukwanisa kushanda zvakasimba maererano nemirairo.
Kurongeka kwebasa ("kubva kunyanya kune mukuru")
Iyi ipfungwa yakaoma. Iwe unofanirwa kudzidza kuti purojekiti hombe ("ita robhoti") ine mabasa madiki ("batanidza sensor," "connect motors"...), uye iwowo, ane kunyange madiki matanho ("wana chirongwa," "batanidza bhodhi." "," dhawunirodha firmware"...). Nokuita mabasa akawanda kana asinganzwisisike epazasi, isu "tinovhara" mabasa epakati, uye kubva kwavari mugumisiro wose unoumbwa. Ndakatsanangura, asi ndinofunga kuti kuziva hakuzouye nokukurumidza. Pane imwe nzvimbo, zvichida, nekuyaruka.
Kukwidza
Kuchera, shinda, screws, nzungu, soldering uye kunhuwa kwe rosin - taizovepi pasina iyo? Mwana akagamuchira hunyanzvi hwekutanga "Kushanda nesimbi yakanyungudutswa" - akakwanisa kutengesa akati wandei kubatanidza (ini ndakabatsira zvishoma, ini handizvivanze). Usakanganwa nezve tsananguro yekuchengeteka.
Basa rekombiyuta
Ndakanyora chirongwa cherobhoti, asi ndakakwanisa kuwana mhedzisiro yakanaka.
Kutanga: Chirungu. Vakanga vachangozvitanga kuchikoro, saka takanga tichinetsekana kuziva kuti pishalka, migalka, yarkost uye mamwe mabhii ekududzira chii. At least takanzwisisa izvi. Ini nemaune handina kushandisa mazwi echiRungu echiRungu, sezvo hatisati tasvika padanho iri.
Chechipiri: kushanda zvakanaka. Isu takadzidzisa hotkey musanganiswa uye maitiro ekukurumidza kuita akajairwa mashandiro. Nguva nenguva, patakanga tichinyora purogiramu, ini nemwanakomana wangu takachinjanisa nzvimbo, uye ndakataura zvaifanira kuitwa (kutsiva, kutsvaga, nezvimwewo). Ndaifanira kudzokorora kakawanda: "tinya-kaviri sarudza", "bata Shift", "bata Ctrl" zvichingodaro. Maitiro ekudzidza pano haana kukurumidza, asi ndinofunga hunyanzvi huchaiswa zvishoma nezvishoma "mu subcortex."
Zvinyorwa zvakavanzwaUnogona kutaura kuti zviri pamusoro zvinenge zviri pachena. Asi, chokwadi, kudonha uku ndakava nemukana wekudzidzisa sainzi yekombuta mugiredhi rechipfumbamwe pane chimwe chikoro. Izvo zvinotyisa. Vadzidzi havazive zvinhu zvakakosha seCtrl + Z, Ctrl + C uye Ctrl + V, kusarudza mavara uchibata Shift kana kudzvanya kaviri pashoko, zvichingodaro. Izvi zvakadaro zvisinei nekuti vaive mugore ravo rechitatu rekudzidza sainzi yekombuta... Dhirowa mhedziso yako wega.
Chechitatu: kubata kutaipa. Ndakapa macomments ari mucode kumwana kuti anyore (rega adzidzise). Takabva tangoisa maoko edu zvakarurama kuitira kuti zvigunwe zviyeuke zvishoma nezvishoma nzvimbo yemakiyi.
Sezvauri kuona, isu tichiri kutanga. Ticharamba tichikwenenzvera hunyanzvi hwedu uye ruzivo; ivo vanozobatsira muhupenyu.
Nenzira, nezve ramangwana ...
Kumwe budiriro
Iyo robhoti inogadzirwa, inotyaira, inobwaira uye beep. Chii zvino? Tichifemerwa nezvatakawana, tinoronga kuzvinatsa zvakare. Pane pfungwa yekugadzira remote control - kunge lunar rover. Zvingave zvinonakidza, kugara kure kure, kudzora kufamba kwerobhoti iri kutyaira munzvimbo yakasiyana zvachose. Asi iyo ichava imwe nyaya ...
Uye pakupedzisira, chokwadi, magamba echinyorwa ichi (vhidhiyo nekudzvanya):
Π‘ΠΏΠ°ΡΠΈΠ±ΠΎ Π·Π° Π²Π½ΠΈΠΌΠ°Π½ΠΈΠ΅!
β
Source: www.habr.com