Lumela, Habr! Re se re ntse re mabapi le sethala sa LEGO MINDSTORMS Education EV3. Lipheo tsa mantlha tsa sethala sena ke ho ithuta ka mehlala e sebetsang, ho nts'etsapele litsebo tsa STEAM le ho nts'etsapele mohopolo oa boenjiniere. E ka sebelisoa bakeng sa mosebetsi oa laboratori ho ithuta mechanics le matla. Libanka tsa laboratori tse entsoeng ka litene tsa LEGO le lisebelisoa bakeng sa ho rekota le ho lokisa lintlha li etsa hore liteko li thahaselle le ho feta tse bonoang le ho thusa bana ho utloisisa fisiks hamolemo. Mohlala, baithuti ba ka bokella lintlha tsa melting point mme ba sebelisa sesebelisoa ho e hlophisa le ho e hlahisa ka graph. Empa sena ke qalo feela: kajeno re tla u bolella mokhoa oa ho tlatsa sete sena le tikoloho ea lenaneo la MicroPython le ho e sebelisa ho ruta liroboto.
Ithute ho etsa mananeo u sebelisa EV3
Bana ba kajeno ba sekolo ba batla ho bona litholoana tse mebala-bala. E, ba jeoa ke bolutu haeba lenaneo le hatisa linomoro ho console, 'me ba batla ho sheba li-graph tsa mebala, litšoantšo le ho etsa liroboto tsa sebele tse tsamaeang le ho latela litaelo. Khoutu ea kamehla e boetse e bonahala e le thata haholo bakeng sa bana, kahoo ho molemo ho qala ho ithuta ka ntho e bonolo.
Tikoloho ea mantlha ea lenaneo la EV3 e ipapisitse le puo ea litšoantšo ea LabVIEW mme e u lumella ho hlakisa li-algorithms bakeng sa roboto ka pono: litaelo li hlahisoa ka mokhoa oa li-blocks tse ka huloang le ho hokahanngoa.
Mokhoa ona o sebetsa hantle ha o hloka ho bonts'a hore na li-algorithms li hahiloe joang, empa ha o tšoanelehe bakeng sa mananeo a nang le palo e kholo ea li-blocks. Ha maemo a ntse a rarahana le ho feta, hoa hlokahala ho fallela lenaneong ka khoutu, empa mohato ona o thata hore bana ba o nke.
Ho na le maqheka a 'maloa mona, e' ngoe ea ona ke ho bontša hore khoutu e etsa ntho e tšoanang le ea li-blocks. Sebakeng sa EV3, sena se ka khoneha ka ho kopanya ha MicroPython, kahoo bana ba ka etsa lenaneo le le leng ka bobeli ba motheo oa "block programming environment" le Python ho Visual Studio Code ea Microsoft. Ba bona hore mekhoa ka bobeli e sebetsa ka mokhoa o ts'oanang, empa ho rarolla mathata a rarahaneng ka ho sebelisa khoutu ho bonolo haholoanyane.
Fetolela ho MicroPython
Tikoloho ea EV3 e hahiloe holim'a processor ea ARM9, 'me bahlahisi ba tlohetse mohaho o butsoe ka boomo. Tharollo ena e entse hore ho khonehe ho hlahisa firmware e 'ngoe, eo e' ngoe ea eona e neng e le setšoantšo sa ho sebetsa le MicroPython. E u lumella ho sebelisa Python ho hlophisa EV3 ea hau, e tlisa kit haufi le mesebetsi ea sebele ea bophelo.
Ho qala, o hloka ho jarolla kareteng efe kapa efe ea microSD, e kenye ka har'a microcomputer ea EV3 ebe u e bulela. Joale u lokela ho kenya bakeng sa Visual Studio. 'Me u ka qala ho sebetsa.
Ho hlophisa roboto ea pele ho MycroPython
Ho rona Ho na le lithuto tse 'maloa tsa ho tseba mehopolo ea mantlha ea liroboto. Mefuta ea EV3 e tsebisa bana lintho tsa motheo tse sebelisoang likoloing tse itsamaisang, liroboto tsa kopano ea feme, le mechini ea CNC.
Re tla nka mohlala oa mochine oa ho taka, o ka rutoang ho taka mekhoa le libopeho tsa geometri. Nyeoe ena ke mofuta o nolofalitsoeng oa liroboto tsa batho ba baholo tse cheselletsang kapa tse silang 'me e bontša kamoo EV3 e ka sebelisoang hammoho le MicroPython ho ruta bana ba sekolo. 'Me mochini oa ho taka o ka tšoaea masoba ka boto ea potoloho e hatisitsoeng bakeng sa ntate, empa ke boemo bo bong bo hlokang lipalo.
Bakeng sa mosebetsi, re hloka:
- LEGO MINDSTORMS Education EV3 Core Set;
- letlapa le leholo la pampiri e chekiloeng;
- mesupa e mebala.
Kopano ea roboto ka boeona e kene , 'me re tla sheba mohlala oa lenaneo.
Pele re qala laeborari ea module ea EV3:
#!/usr/bin/env pybricks-micropython
from pybricks import ev3brick as brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Color, ImageFile
from pybricks.tools import wait
Re theha sethala se potolohang sephethephethe joalo ka motlakase koung ea B. Re beha tekanyo ea gear ea terene ea mekhahlelo e 'meli e nang le meno a mangata a 20-12-28, ka ho latellana.
turntable_motor = Motor(Port.B, Direction.CLOCKWISE, [20, 12, 28])
Re lokisa mochini oa ho phahamisa bakeng sa mofeng joalo ka enjene boema-kepeng ba C:
seesaw_motor = Motor(Port.C)
Re hlophisa gyroscope, e lekanyang sekhahla sa sephethephethe, boema-kepeng ba 2:
gyro_sensor = GyroSensor(Port.S2)
Re lokisa sensor ea mebala ka har'a port 3. Sensor e sebelisetsoa ho bona pampiri e tšoeu tlas'a mochine oa ho taka:
color_sensor = ColorSensor(Port.S3)
Re lokisa sensor ea ho ama boema-kepeng ba 4. Roboto e qala ho taka ha sensor e hatelloa:
touch_sensor = TouchSensor(Port.S4)
Re hlalosa mesebetsi e phahamisang le ho theola sephethephethe:
def pen_holder_raise():
seesaw_motor.run_target(50, 25, Stop.HOLD)
wait(1000)
def pen_holder_lower():
seesaw_motor.run_target(50, 0, Stop.HOLD)
wait(1000)
Re hlalosa ts'ebetso ea ho potoloha sephethe ho sekhutlo se fanoeng kapa ho sekhutlo se itseng:
def pen_holder_turn_to(target_angle):
if target_angle > gyro_sensor.angle():
Haeba angle e shebiloeng e le kholo ho feta ea hona joale ea gyro sensor angle, tsoela pele ho ea ka oache ka lebelo le nepahetseng:
turntable_motor.run(70)
while gyro_sensor.angle() < target_angle:
pass
elif target_angle < gyro_sensor.angle():
Haeba angle e shebiloeng e le ka tlase ho sensor ea hajoale ea gyro, joale tsamaea ka tsela e fapaneng le oache:
turntable_motor.run(-70)
while gyro_sensor.angle() > target_angle:
pass
Emisa sethala se potolohang ha sekhutlo se fihletsoeng:
turntable_motor.stop(Stop.BRAKE)
Beha boemo ba pele ba mofeng sebakeng se ka holimo:
pen_holder_raise()
Hona joale ho tla karolo e ka sehloohong ea lenaneo - loop e sa feleng. EV3 e emela pele hore sensor ea mebala e bone pampiri e tšoeu kapa lisekoere tse putsoa le hore sensor ea ho ama e hatelle. Ebe o hula mohlala, o khutlela sebakeng sa ho qala ebe o pheta ntho e 'ngoe le e' ngoe hape.
Ha sesebelisoa se e-s'o lokisoe, li-LED ho molaoli li fetoha tse khubelu 'me setšoantšo sa "thumbs down" se hlahisoa skrineng sa LCD:
while True:
brick.light(Color.RED)
brick.display.image(ImageFile.THUMBS_DOWN)
Re ema ho fihlela sensor ea 'mala e bala e putsoa kapa e tšoeu, beha 'mala oa LED hore o be o motala, o bonts'a setšoantšo sa "thumbs up" skrineng sa LCD mme o tlaleha hore sesebelisoa se se se loketse ho sebelisoa:
while color_sensor.color() not in (Color.BLUE, Color.WHITE):
wait(10)
brick.light(Color.GREEN)
brick.display.image(ImageFile.THUMBS_UP)
Re emetse hore sensor ea ho ama e hateletsoe, e fane ka boleng ba angle 0 ho sensor ea gyroscopic ebe o qala ho taka:
while not touch_sensor.pressed():
wait(10)
gyro_sensor.reset_angle(0)
pen_holder_turn_to(15)
pen_holder_lower()
pen_holder_turn_to(30)
pen_holder_raise()
pen_holder_turn_to(45)
pen_holder_lower()
pen_holder_turn_to(60)
Phahamisa sets'oants'o sa pene ebe u se khutlisetsa sebakeng sa sona sa pele:
pen_holder_raise()
pen_holder_turn_to(0)</i>
Lena ke lenaneo le bonolo leo re le entseng. 'Me joale rea e qala ebe re sheba roboto ea ho ngola e ntse e sebetsa.
Mehlala e joalo e fana ka eng?
EV3 ke sesebelisoa sa tataiso bakeng sa mesebetsi ea STEM le sebaka sa ho kena mesebetsing ea boenjiniere. Kaha e ka sebelisoa ho rarolla mathata a sebetsang, bana ba fumana boiphihlelo ho nts'etsopele ea tekheniki le ho theheng liroboto tsa indasteri, ba ithuta ho etsisa maemo a nnete, ho utloisisa mananeo le ho sekaseka li-algorithms, le ho tseba mekhoa ea mantlha ea mananeo.
Tšehetso ea MicroPython e etsa hore sethala sa EV3 se loketse ho ruta sekolong se phahameng. Baithuti ba ka iteka e le baetsi ba mananeo ho e 'ngoe ea lipuo tse tsebahalang haholo tsa sejoale-joale,' me ba tloaelane le litsebi tse amanang le moralo oa mananeo le boenjiniere. Lisebelisoa tsa EV3 li bonts'a hore ho ngola likhoutu ha ho tšabe, ho u lokisetsa liphephetso tse tebileng tsa boenjiniere, le ho u thusa ho nka mohato oa pele oa ho tseba litsebo tsa tekheniki. 'Me bakeng sa ba sebetsang likolong le ba amanang le thuto, re lokiselitse le lisebelisoa tsa thuto. Ba hlalosa ka botlalo hore na ke litsebo life tse ntlafatsoang ha ho etsoa mesebetsi e itseng, le hore na litsebo tse fumanoeng li amana joang le maemo a koetliso.
Source: www.habr.com
