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Kweli nqaku ndifuna ukuchaza inkqubo yokuhlanganisa irobhothi yam yokuqala usebenzisa iArduino. Izinto eziphathekayo ziya kuba luncedo kwabanye abaqalayo abafana nam abafuna ukwenza uhlobo oluthile "lwenqwelo yokuziqhuba." Inqaku liyinkcazo yezigaba zokusebenza kunye nezongezo zam kwii-nuances ezahlukeneyo. Ikhonkco kwikhowudi yokugqibela (ekunokwenzeka ukuba ayilona ifanelekileyo) inikwe ekupheleni kwenqaku.
Nanini na kunokwenzeka, ndandibandakanya unyana wam (oneminyaka esi-8 ubudala) ekubeni abe nenxaxheba. Yintoni kanye esebenze ngayo kunye nengazange isebenze - ndizinikele inxalenye yenqaku kule nto, mhlawumbi iya kuba luncedo kumntu.
Inkcazo ngokubanzi yerobhothi
Okokuqala, amagama ambalwa malunga nerobhothi ngokwayo (ngcamango). Andizange ndifune ukudibanisa into esemgangathweni ekuqaleni. Kwangaxeshanye, iseti yamacandelo yayisemgangathweni - i-chassis, iinjini, inzwa ye-ultrasonic, inzwa yomgca, ii-LED, i-tweeter. Ekuqaleni, kwaveliswa irobhothi kule “suphu iseti” egada ummandla wayo. Uqhubela ngakumamoni owele umgca wesangqa, aze abuyele embindini. Nangona kunjalo, le nguqulelo ibifuna umgca ozotyiweyo, kunye nezibalo ezongezelelweyo ukuze uhlale kwisangqa ngalo lonke ixesha.
Ngoko ke, emva kokucinga okuthile, ndatshintsha ingcamango ngandlela-thile kwaye ndagqiba ekubeni ndenze irobhothi "umzingeli". Ekuqaleni, ijika ijikeleze i-axis yayo, ikhetha indawo ekujoliswe kuyo (umntu). Ukuba "ixhoba" lifunyenwe, "umzingeli" uvula izibane ezikhanyayo kunye ne-siren kwaye uqala ukuqhuba ukuya kuyo. Xa umntu ehamba / ebaleka, i-robot ikhetha into entsha ekujoliswe kuyo kwaye iyilandele, njalo njalo. Irobhothi enjalo ayifuni isangqa esilinganiselweyo, kwaye inokusebenza kwiindawo ezivulekileyo.
Njengoko ubona, oku kufana nomdlalo wokubamba. Nangona ekugqibeleni i-robot ayizange ikhawuleze ngokwaneleyo, isebenzisana ngokunyanisekileyo nabantu abakujikelezile. Abantwana bayayithanda kakhulu (ngamanye amaxesha, nangona kunjalo, kubonakala ngathi sele beza kuyinyathela, intliziyo yabo ibetha ...). Ndicinga ukuba esi sisisombululo esilungileyo sokwazisa uyilo lobugcisa.
Isakhiwo serobhothi
Ke, sigqibe ngombono, masiqhubele phambili uyilo. Uluhlu lweziqalelo lwenziwe kwinto ekufuneka ikwazile ukuyenza irobhothi. Yonke into elapha icacile, ngoko masijonge ngokukhawuleza amanani:
"Iingqondo" zerobhothi yibhodi ye-arduino uno (1); yayikwiseti eyalelwe eTshayina. Ngeenjongo zethu, kwanele ngokwaneleyo (sigxininisa kwinani lezikhonkwane ezisetyenzisiweyo). Kwikhithi enye sithatha i-chassis esele yenziwe (2), apho amavili amabini okuqhuba (3) kunye nenye yangasemva (ejikeleza ngokukhululekileyo) (4) aqhotyoshelweyo. Ikhithi yayiquka indawo yebhetri esele yenziwe (5). Ngaphambi kwerobhothi kukho i-ultrasonic sensor (HC-SR04) (6), ngasemva kukho umqhubi wemoto (L298N) (7), embindini kukho i-flash ye-LED (8), kunye nokuncinci ukuya. ecaleni kukho i-tweeter (9).
Kwinqanaba loyilo sijonga:
- ukuze yonke into ilingane
- ukulungelelana
- ukubekwa ngokwengqiqo
Oogxa bethu baseTshayina sele besenzele oku ngokuyinxenye. Ngoko ke, indawo yebhetri enzima ibekwe embindini, kwaye amavili okuqhuba abekwe malunga phantsi kwayo. Zonke ezinye iibhodi zikhaphukhaphu kwaye zinokubekwa kwi-periphery.
Izinto ezikhoyo
- I-chassis esuka kwikiti inemingxuma emininzi yefektri, kodwa andikafumani ukuba yintoni ingqiqo kubo. Iinjini kunye nepakethe yebhetri zikhuselekile ngaphandle kweengxaki, emva koko "uhlengahlengiso" lwaqala ngokubhoboza imingxuma emitsha ukukhusela oku okanye le bhodi.
- Iintsimbi zobhedu kunye nezinye izibophelelo ezivela kwiindawo zokugcina zibe luncedo olukhulu (ngamanye amaxesha kwakufuneka sizikhuphe).
- Ndadlula iibhasi ukusuka kwibhodi nganye ngokusebenzisa i-clamps (kwakhona, ndazifumana kwindawo yokugcina). Ilunge kakhulu, zonke iingcingo zilala kakuhle kwaye azijingi.
Iibhloko zomntu ngamnye
Ngoku ndiza kudlula iibhloko kwaye ndiza kukuxelela ngokwakho malunga ngamnye.
indawo yebhetri
Kucacile ukuba irobhothi kufuneka ibe nomthombo olungileyo wamandla. Iinketho zinokwahluka, ndikhethe ukhetho ngeebhetri ze-4 AA. Ngokupheleleyo banika malunga ne-5 V, kwaye le mbane ingasetyenziswa ngokuthe ngqo kwi-pin ye-5V yebhodi ye-arduino (ngokudlula i-stabilizer).
Ewe kunjalo, bendilumkile, kodwa esi sisombululo siyasebenza.
Ekubeni amandla afunekayo kuyo yonke indawo, ukuze kube lula ndenze izixhumi ezimbini phakathi kwerobhothi: enye "ihambisa" umhlaba (ngasekunene), kwaye okwesibini - 5 V (ngasekhohlo).
Iimoto kunye nomqhubi
Okokuqala, malunga nokunyuka kweenjini. Intaba yenziwe yifektri, kodwa yenziwe ngokunyamezela okukhulu. Ngamanye amazwi, ii-injini zinokuhexa isibini seemilimitha ngasekhohlo nasekunene. Ngomsebenzi wethu oku akubalulekanga, kodwa kwezinye iindawo kunokuba nefuthe (i-robot iya kuqala ukuhamba kwicala). Ukuba kunokwenzeka, ndibeka ii-injini ngokungqongqo kwaye ndazilungisa ngeglue.
Ukulawula iimoto, njengoko ndibhale ngasentla, umqhubi we-L298N usetyenziswa. Ngokwamaxwebhu, inezikhonkwane ezintathu zemoto nganye: enye yokutshintsha isantya kunye neepeyini zezikhonkwane zendlela yokujikeleza. Kukho ingongoma enye ebalulekileyo apha. Kuyavela ukuba ukuba i-voltage yonikezelo yi-5 V, ngoko ulawulo lwesantya alusebenzi nje! Oko kukuthi, mhlawumbi ayiguquki konke konke, okanye ijika ibe phezulu. Eli linqaku elibangele ukuba "ndibulale" iingokuhlwa ezimbalwa. Ekugqibeleni, ndifumene ukukhankanywa kwindawo ethile kwenye yeeforamu.
Ngokubanzi, bendidinga isantya esisezantsi sokujikeleza xa ndijika irobhothi-ukuze ibenexesha lokuskena indawo. Kodwa, ekubeni akukho nto ivela kule ngcamango, kwafuneka ndiyenze ngokuhlukileyo: ukujika okuncinci - ukumisa - ukujika - ukumisa, njl. Kwakhona, kungekhona ubuhle, kodwa busebenza.
Ndiza kuphinda ndongeze apha ukuba emva kokulandela i-robot nganye ikhetha i-random direction for a new turn (i-clockwise okanye i-counterclockwise).
Inzwa ye-ultrasonic
Esinye isiqwenga se-hardware apho kwafuneka sijonge isisombululo sokulalanisa. Inzwa ye-ultrasonic ivelisa amanani angazinzanga kwimiqobo yangempela. Eneneni, oku kwakulindelwe. Ngokufanelekileyo, isebenza kwindawo ethile kwimincintiswano apho kukho i-smooth, nkqu kunye ne-perpendicular surfaces, kodwa ukuba imilenze yomntu "i-flash" phambi kwayo, kufuneka kuqaliswe ukuqhutyelwa phambili okongezelelweyo.
Njengomsebenzi onjalo ndibeka ngamanani amathathu. Ngokusekwe kuvavanyo kubantwana bokwenyani (akukho bantwana benzakaliswayo ngexesha lovavanyo!), kwafumaniseka ukuba kwanele ukwenza idatha ibe yesiqhelo. Ifiziksi apha ilula: sinemiqondiso eboniswe ukusuka kuyimfuneko izinto (ukunika umgama ofunekayo) kwaye ibonakaliswe ukusuka kwiindawo ezikude, umzekelo, iindonga. Ezi zamva zikhutshwa ngokungalindelekanga kwimilinganiselo yefom 45, 46, 230, 46, 46, 45, 45, 310, 46... Zezi ukuba isihluzo esiphakathi sinqumle.
Emva kwayo yonke inkqubo, sifumana umgama kwinto ekufutshane. Ukuba ingaphantsi kwexabiso elithile, ngoko sivula i-alamu kwaye siqhube ngokuthe ngqo kwi "intruder".
Isibane kunye nesiren
Mhlawumbi ezona zinto zilula kuzo zonke ezi zingentla. Zinokubonwa kwiifoto ezingentla. Akukho nto yokubhala malunga ne-hardware apha, ke ngoku masiqhubele phambili ikhowudi.
Inkqubo yokulawula
Andiyiboni ingongoma ekuchazeni ikhowudi ngokweenkcukacha, ngubani oyidingayo-ikhonkco lisekupheleni kwenqaku, yonke into iyafundeka apho. Kodwa kuya kuba kuhle ukuchaza isakhiwo jikelele.
Into yokuqala ekufuneka siyiqonde kukuba irobhothi sisixhobo sexesha lokwenyani. Ngokuchanekileyo, ukukhumbula, kuba ngaphambili kwaye ngoku ndisasebenza kwi-elektroniki. Ngoko, silibala ngoko nangoko malunga nomngeni ukulibaziseka (), abathanda ukuyisebenzisa kumzekelo wemizobo, kwaye ngokulula "ukumisa" inkqubo ngexesha elithile. Endaweni yoko, njengoko abantu abanamava becebisa, sazisa izibali-xesha kwibhloko nganye. Ixesha elifunekayo lidlulile - isenzo senziwe (ukwandisa ukukhanya kwe-LED, kuvuliwe injini, njalo njalo).
Izibali-xesha zinokudityaniswa. Ngokomzekelo, i-tweeter isebenza ngokuhambelana ne-flasher. Oku kuyenza lula inkqubo kancinci.
Ngokwemvelo, siphula yonke into ibe yimisebenzi eyahlukileyo (izibane ezikhanyayo, isandi, ukuguqula, ukuqhubela phambili, njalo njalo). Ukuba awukwenzi oku, ngoko awuyi kukwazi ukufumanisa ukuba ivela phi kwaye phi.
Iinuances ze-pedagogy
Ndenze yonke into echazwe ngasentla ngexesha lam lokuphumla ngokuhlwa. Ngendlela epholileyo, ndachitha malunga neeveki ezintathu kwirobhothi. Ibingaphelela apha ke kodwa ndiphinde ndithembise ngokusebenza nomntwana. Yintoni enokwenziwa kule minyaka?
Sebenza ngokwemiyalelo
Okokuqala sihlolisise inxalenye nganye ngokwahlukileyo - ii-LED, i-tweeter, ii-motor, izinzwa, njl. Kukho inani elikhulu lemizekelo esele yenziwe - enye ilungile kwindawo yophuhliso, abanye banokufumaneka kwi-Intanethi. Ngokuqinisekileyo oku kuyandonwabisa. Sithatha ikhowudi, sidibanise inxalenye, siqinisekise ukuba siyasebenza, ngoko siqala ukuyitshintsha ukuze ihambelane nomsebenzi wethu. Umntwana wenza uqhagamshelo ngokomzobo kunye naphantsi kolawulo lwam. Oku Kulungile. Kufuneka kwakhona ukwazi ukusebenza ngokungqongqo ngokwemiyalelo.
Umyalelo womsebenzi ("ukusuka ngokukodwa ukuya ngokubanzi")
Eli linqaku elinzima. Kuya kufuneka ufunde ukuba iprojekthi enkulu ("yenza irobhothi") inemisebenzi emincinci ("qhagamshela inzwa," "qhagamshela iimotor"...), kwaye ezo, nazo, ziquka amanyathelo amancinci ("fumana inkqubo,” “qhagamshela ibhodi.” ","khuphela i-firmware"...). Ngokwenza imisebenzi engaphezulu okanye engaphantsi eqondakalayo yezinga eliphantsi, "sivala" imisebenzi yezinga eliphakathi, kwaye ukusuka kubo umphumo jikelele wenziwa. Ndachaza, kodwa ndicinga ukuba ukuqonda akuzi kufika ngokukhawuleza. Endaweni ethile, mhlawumbi, ngokufikisa.
Ukufakwa
Ukugrumba, imisonto, izikrufu, amandongomane, i-soldering kunye nevumba le-rosin - besiya kuba phi ngaphandle kwayo? Umntwana wafumana isakhono esisisiseko "Ukusebenza ngentsimbi ye-soldering" - wakwazi ukuthengisa amakhonkco amaninzi (ndanceda kancinci, andiyi kukufihla). Musa ukulibala malunga nengcaciso yokhuseleko.
Umsebenzi wekhompyuter
Ndibhale inkqubo yerobhothi, kodwa ndikwazile ukufumana iziphumo ezilungileyo.
Okokuqala: IsiNgesi. Babesandula ukuyiqala esikolweni, ngoko ke sasisokola ukuqonda ukuba yintoni i-pishalka, i-migalka, i-yarkost kunye nezinye iinguqulelo. Ubuncinane besiyiqonda le nto. Andizange ndisebenzise amagama esiNgesi ngabom, kuba asikafiki kweli nqanaba.
Okwesibini: umsebenzi osebenzayo. Safundisa indibaniselwano yehotkey kunye nendlela yokwenza imisebenzi esemgangathweni ngokukhawuleza. Ngamaxesha athile, xa sibhala inkqubo, mna nonyana wam satshintshana indawo, kwaye ndathetha oko kufuneka kwenziwe (ukutshintshwa, ukukhangela, njl.). Kwafuneka ndiphindaphinde ngokuphindaphindiweyo: "cofa kabini ukhethe", "bamba uShift", "bamba iCtrl" njalo njalo. Inkqubo yokufunda apha ayikhawulezi, kodwa ndicinga ukuba izakhono ziya kufakwa ngokuthe ngcembe "kwi-subcortex."
Isicatshulwa esifihliweyoUnokuthi oku ngasentla kuphantse kucace. Kodwa, ngokunyanisekileyo, oku kuwa ndafumana ithuba lokufundisa isayensi yekhompyutha kwibanga le-9 kwisikolo esinye. Imbi kakhulu. Abafundi abazazi izinto ezisisiseko ezifana no-Ctrl + Z, Ctrl + C no-Ctrl + V, bekhetha umbhalo ngelixa ubambe uShift okanye ucofa kabini igama, njalo njalo. Oku kwenzeka nangona bebekunyaka wabo wesithathu wokufunda isayensi yekhompyutha... Zoba esakho isigqibo.
Okwesithathu: ukuchwetheza ngokuchukumisa. Izimvo ezikwikhowudi ndiziphathise umntwana ukuba azichwetheze (makaziqhelise). Ngokukhawuleza sabeka izandla zethu ngokuchanekileyo ukuze ngokuthe ngcembe iminwe yethu ikhumbule indawo yezitshixo.
Njengoko ubona, sisaqala. Siya kuqhubeka siphucula ubuchule kunye nolwazi lwethu; ziya kuba luncedo ebomini.
Ngendlela, malunga nekamva ...
Uphuhliso olongezelelweyo
Irobhothi yenziwe, iyaqhuba, idanyaza kwaye iyabhip. Yintoni ngoku? Ngokukhuthazwa koko sikuzuzileyo, siceba ukuyicokisa ngakumbi. Kukho ingcamango yokwenza ulawulo olukude - njenge-lunar rover. Kuya kuba mnandi, ukuhlala kwindawo ekude, ukulawula ukuhamba kwerobhothi eqhuba kwindawo eyahlukileyo ngokupheleleyo. Kodwa oko kuya kuba libali elahlukileyo ...
Kwaye ekugqibeleni, enyanisweni, amaqhawe eli nqaku (ividiyo ngokucofa):
Спасиalu
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umthombo: www.habr.com