Darasi Na 6 Cikin 10: Sarrafa Motocin DC ta amfani da Raspberry Pi Pico 4WD Smart Car Kit

Darasi Na 6 Cikin 10: Sarrafa Motocin DC ta amfani da Raspberry Pi Pico 4WD Smart Car Kit

Wannan jagorar aikin ta dogara ne akan Darasi na 6 na kwas din Robojax Raspberry Pi Pico Smart Car. A wannan zaman, za ku koyi yadda ake hada injin servo da na'urar ultrasonic don samar da tsarin gujewa cikas mai hankali ga motar ku ta 4WD. Maimakon kawai tsayawa idan ta gano abu, wannan aikin ya mayar da motar ku ta zama karamar mutum-mutumi mai cin gashin kanta wacce ke binciken muhallinta, ta tantance hanya mafi kyau, kuma ta kewaya cikas.

Wannan ba kawai motsa jiki na ka'ida ba ne; aiki ne na tushe don gina robotics mafi sarkakiya. Ga wasu aikace-aikace masu amfani don wannan dabara ta gujewa cikas:

• Mutum-mutumin Bincike Mai Cin Gashin Kansa: Gina mutum-mutumin da zai iya kewaya daki ko maze da kansa ba tare da wani remote ba.
• Smart Vacuum Cleaner: Yi amfani da wannan dabara don ƙirƙirar injin tsabtace kasa mai sauki wanda zai iya gujewa kayan daki da bango yayin tsaftace kasa.
• Bot din Tsaro: Shirya motar don sintiri a kewaye kuma yi amfani da na'urar ultrasonic don ganowa da kewaya abubuwan da ba a zata ba.
• Dandalin Ilimin Robotics: Yi amfani da wannan a matsayin tushe don gwada algorithms na neman hanya da hada na'urori masu zurfi.

Babban manufar ita ce amfani da injin servo don juya na'urar ultrasonic, tana aiki a matsayin "radar" wacce ke binciken yankin daga hagu zuwa dama. Ta hanyar auna nisa a kusurwoyi daban-daban, motar na iya gina taswirar kewayenta kuma ta yanke shawara don ci gaba, juya hagu, ko juya dama don nemo hanya mai kyau (a bidiyo a 02:47).

Kayan Aiki/Abubuwan Hadawa

Wannan aikin an gina shi ne a kusa da SunFounder Raspberry Pi Pico 4WD Smart Car Kit. Abubuwan da aka yi amfani da su a wannan darasin sune:

• Raspberry Pi Pico board
• 4WD Smart Car chassis tare da motoci
• Motor driver board (wanda ke cikin kit)
• Na'urar ultrasonic (nau'in HC-SR04)
• Injin servo
• Kunshin baturi

Jagorar Wayoyi

Bidiyon ya ambaci cewa kit din ya zo da cikakkun takardu, umarnin mataki-mataki, da zane-zanen wayoyi. Wayoyi na servo da na'urar ultrasonic yawanci ana hada su da motor driver board, wanda ke tattara hanyoyin hadawa ga Pico.

Da fatan za a koma ga zanen da ke kasa don takamaiman hanyoyin hadawa na kit din ku.

Bayanin Lambar

Bidiyon ya mayar da hankali kan dabara a cikin fayil din obstacle_avoid.py. Yayin da cikakken lambar ke samuwa tare da kit, wannan darasin ya nuna sigogin da mai amfani zai iya daidaitawa wadanda ke sarrafa halayen motar. Wadannan su ne masu canji waɗanda za ku so ku daidaita don inganta aikin mutum-mutumin ku.

A saman babban shirin, za ku sami mahimman saitunan da ke bayyana halayen motar (a bidiyo a 13:07):

# Saitunan gujewa cikas
RADAR_REFERENCE = 20  # Nisa a cm don la'akari da cikas
STEP_ANGLE = 10       # Digiri da servo ke motsawa ga kowane matakin bincike
FORWARD_SPEED = 30    # Gudun motar lokacin ci gaba
TURN_SPEED = 50       # Gudun motar lokacin juya
FORWARD_SCAN_ANGLE = 50  # Digiri don saurin bincike na gaba

• RADAR_REFERENCE: Wannan shine mafi mahimmancin saitin. Yana bayyana mafi karancin nisa mai aminci a santimita. Idan na'urar ultrasonic ta gano abu mafi kusa da wannan darajar, motar tana la'akari da shi a matsayin "hadari" kuma ta fara tsarin gujewa (a bidiyo a 22:03).
• STEP_ANGLE: Wannan yana tantance girman binciken radar. Karamin darajar (misali, digiri 10) yana sa binciken ya zama mafi daidai amma a hankali. Babban darajar yana sa shi sauri amma kasa dalla-dalla.
• FORWARD_SPEED & TURN_SPEED: Wadannan sune darajojin PWM (0-100) waɗanda ke sarrafa karfin motoci. Kuna iya daidaita su don canza yadda motar ke tafiya gaba da yadda take juya (a bidiyo a 13:33).
• FORWARD_SCAN_ANGLE: Bayan an guje wa cikas, motar tana yin saurin bincike don tabbatar da cewa hanyar gaba a bayyane take. Wannan mai canji yana saita kusurwar wannan binciken. Darajar 50 tana nufin tana bincike daga -25 zuwa +25 digiri dangane da tsakiya (a bidiyo a 13:40).

Aikin Kai Tsaye/Nunawa

A cikin bidiyon, mai koyarwa yana nuna aikin a matakai. Da farko, yana gudanar da gwaji mai sauki don nuna yadda na'urar ultrasonic ke auna nisa kuma ta buga darajojin zuwa shell, yana tabbatar da cewa "0" yana wakiltar cikas kuma "1" yana wakiltar hanya mai kyau (a bidiyo a 03:48).

Sannan ya bayyana tsarin yanke shawara, wanda shine kwakwalwar aikin. Motar tana amfani da aiki mai suna get_direction() don nazarin bayanan radar. Wannan aikin yana raba bayanan binciken zuwa sassan bude wuri kuma ya gano mafi fadi. Dangane da inda wannan fadin hanya take (hagu, tsakiya, ko dama), motar tana yanke shawara ta juya wace hanya (a bidiyo a 11:19).

A karshe, mai koyarwa ya shirya maze na cikas kuma ya nuna motar tana kewaya ta. Kuna iya ganin motar tana binciken hagu da dama, tana ja da baya idan ta makale, kuma a karshe ta sami hanyar wucewa ta cikin cikas ba tare da wani sarrafawa na hannu ba (a bidiyo a 22:53).

Babuka

• [00:00] Gabatarwa ga Guje wa Shinge tare da Motar Pico
• [01:31] Bayanin Kayan Aiki da Takardun Jagora
• [02:47] Nuna Fasahar Guje wa Shinge
• [03:48] Gwajin Na'urar Ultrasonic da Auna Nisa
• [07:45] Bayanin Tsarin Algorithm na Guje wa Shinge da Taswirar Gudana
• [12:49] Nazarin Babban Lambar Guje wa Shinge
• [15:50] Nunin Lambar Kai Tsaye da Fassarar Bayanai
• [18:11] Zurfafa Bincike kan Hanyar Samun Jagora da Dabaru na Juyawa
• [22:53] Gwajin Kai Tsaye na Ƙarshe tare da Matsalolin Shinge