Darasi na 7 cikin 10: Bin Layi, Gano Dutsi Daidaita Sensor Greyscale Motar Raspberry Pi Pico

Darasi na 7 cikin 10: Bin Layi, Gano Dutsi Daidaita Sensor Greyscale Motar Raspberry Pi Pico

A cikin darasi na bakwai na wannan kwas na Raspberry Pi Pico Smart Car, muna bincika muhimman ayyuka na bin layi da gano dutse ta amfani da na'urar firikwensin grayscale. Wannan na'urar tana aiki a matsayin "idanu" na motarka, tana ba ta damar bin hanya da aka ƙaddara da kanta kuma ta guje wa faɗuwa masu haɗari. Aikin yana nuna yadda ake daidaita firikwensin don samun ingantattun karatu da aiwatar da dabaru waɗanda ke kiyaye motar a kan hanya, tare da fasalin "Kada Ka Tura Ni" mai daɗi wanda ke kwaikwayon gano dutse. Wannan jagorar ta dace da duk wanda ke son wuce gaba da sarrafa nesa na asali kuma ya shiga duniyar robotics mai jagorancin firikwensin.

Wannan fasaha tana da aikace-aikace masu amfani da yawa fiye da aikin DIY mai daɗi kawai. Ƙa'idodin da za ku koya a nan sune tushe don gina ainihin tsarin sarrafa kansa na duniya. Ga wasu ra'ayoyi don ƙarfafa ku:

• Motocin Isar da Kayayyaki na Atomatik: Gina ƙaramin mutum-mutumi wanda zai iya kewaya ɗakin ajiya ko filin ofis ta hanyar bin layukan da aka yiwa alama don isar da abubuwa.
• Mai Warware Matsalar Tebur: Ƙirƙiri mutum-mutumi wanda zai iya kewaya wani hadadden matsala da aka zana da baƙar tef ɗin lantarki.
• Mutum-mutumin Tsaro da Tsaro: Aiwatar da bot ɗin sintiri wanda ke bin ƙayyadaddun hanya kuma yana amfani da gano dutse don guje wa faɗuwa daga matakala ko saman sama.
• Dandalin Ilimi: Yi amfani da motar don koyar da tushen sarrafa PID, haɗakar firikwensin, da kewayawa mai zaman kansa.

Kayan aiki da Abubuwan Haɗi

Wannan aikin yana gina kan SunFounder Raspberry Pi Pico 4WD car kit. Babban ɓangaren wannan darasi shine na'urar firikwensin grayscale, wanda ke da mahimmanci ga duka bin layi da gano dutse. Na'urar tana da firikwensin guda uku masu zaman kansu waɗanda ke auna adadin hasken da ke nunawa daga saman ƙasa. Ana amfani da wannan bayanan don bambance tsakanin baƙar layi, farin saman, da "dutse" ko buɗaɗɗen sarari. Cikakken kit ɗin kuma ya haɗa da chassis ɗin motar Pico, motoci, da fakitin baturi don kunna tsarin.

Jagorar Wayoyi

Ingantaccen wayoyi shine mataki na farko don samun firikwensin ku yayi aiki. Na'urar grayscale tana haɗawa da Raspberry Pi Pico ta amfani da wayoyi huɗu. Wayoyin suna da sauƙi kuma an nuna su a fili a cikin bidiyon.

Ga tsarin wayoyi kamar yadda aka nuna a bidiyon (a cikin bidiyo a 03:01):

• Baƙar Wayar: Haɗa zuwa fil ɗin GND akan Pico.
• Jar Wayar: Haɗa zuwa fil ɗin 3.3V akan Pico.
• Rawayar Wayar (Firikwensin Dama): Haɗa zuwa fil ɗin GPIO 28.
• Ruwan Ƙasa Wayar (Firikwensin Tsakiya): Haɗa zuwa fil ɗin GPIO 27.
• Fari/Ƙarfe Wayar (Firikwensin Hagu): Haɗa zuwa fil ɗin GPIO 26.

Daidaita Firikwensin Grayscale

Kafin motar ta iya bin layi cikin aminci, dole ne ku daidaita firikwensin don fahimtar karatu daban-daban na fari, baƙi, da sarari mara komai. Wannan mataki ne mai mahimmanci don tabbatar da cewa motarku ta yanke shawara daidai. Ana iya daidaita firikwensin ta hanyar ƙaramin potentiometer akan na'urar.

Bidiyon yana nuna tsarin daidaitawa (a cikin bidiyo a 04:39). Ya kamata a sanya firikwensin a tsayin da ya dace sama da ƙasa—kusan milimita 11 ko santimita ɗaya—don samun karatu bayyananne. Ta hanyar daidaita potentiometer da lura da ƙimar, za ku iya samun wurin da ya dace. Manufar ita ce a sami babban bambanci tsakanin karatu na farin saman (wanda ke nuna haske mai yawa) da baƙar layi (wanda ke nuna ƙaramin haske).

Ga taƙaitaccen abin da karatun ke nufi:

• Farin Saman: Babban nunawa, yana haifar da ƙimar firikwensin mai girma (misali, kusan 20,000).
• Baƙar Layi: Ƙaramin nunawa, yana haifar da ƙimar firikwensin mara ƙarfi (misali, kusan 3,000).
• Dutse (Sarari Marar Komai): Babu nunawa, yana haifar da ƙimar firikwensin mafi ƙanƙanta (misali, kusan 1,200).

Bayanin Lambar

Tun da ba a samar da lamba ba don wannan darasi, za mu mayar da hankali kan dabaru na ra'ayi da muhimman ayyuka daga ɗakin karatu na Robojax waɗanda ake amfani da su don sa motar ta yi aiki. Bidiyon yana bayyana manyan ayyuka guda biyu waɗanda za ku yi amfani da su daga ɗakin karatun da aka bayar.

Gwada Firikwensin

Mataki na farko shine gwada firikwensin ku da rubutu mai sauƙi. Wannan rubutun yana amfani da aiki mai suna get_grayscale_value() don karanta ƙimar danyen daga firikwensin guda uku. Yana buga waɗannan ƙimar zuwa mai kula da serial don ku ga yadda suke canzawa lokacin da firikwensin ke kan saman daban-daban. Wannan yana da amfani don tabbatar da wayoyin ku da aiwatar da matakin daidaitawa.

# Wannan misali ne na ra'ayi na aikin gwaji
from machine import Pin, ADC
import time

# Ƙayyade fil ɗin ADC don firikwensin grayscale
grayscale_pins = [26, 27, 28]
sensors = [ADC(Pin(pin)) for pin in grayscale_pins]

while True:
    # Karanta ƙimar danyen 16-bit daga firikwensin
    values = [sensor.read_u16() for sensor in sensors]
    print("Hagu: {} Tsakiya: {} Dama: {}".format(values[0], values[1], values[2]))
    time.sleep_ms(100)

Dabaru na Bin Layi

Don bin layi, lambar ba ta amfani da ƙimar analog ɗin danyen ba. A maimakon haka, tana canza su zuwa matsayi mai sauƙi na dijital: 1 idan firikwensin yana kan baƙar layi, da 0 idan yana kan farin saman. Wannan ana sarrafa shi ta hanyar aiki wanda ke mayar da jerin ƙimar guda uku (misali, [0, 1, 0]). Babban madauki na sarrafawa sannan yana amfani da wannan jerin don ƙayyade ayyukan motar.

Hanyar tana dogara ne akan kwatanta matsayin firikwensin da sharuɗɗan da aka ƙayyade. Misali, idan matsayin ya kasance [0, 1, 0], motar tana kan layi daidai kuma ya kamata ta ci gaba. Idan matsayin ya kasance [1, 0, 0], motar ta karkata zuwa hagu kuma tana buƙatar gyara hanyarta zuwa dama. Bidiyon yana bayyana waɗannan sharuɗɗan dalla-dalla (a cikin bidiyon a 13:05), yana nuna yadda haɗuwar karatun firikwensin daban-daban ke dacewa da umarnin mota daban-daban, kamar juya hagu, juya dama, ko yin gyara mai ƙarfi.

# Wannan misali ne na ra'ayi na hanyar bin layi
# A ɗauka 'status' jerin ne kamar [0, 1, 0] daga firikwensin launin toka

if status == [0, 1, 0]:  # Firikwensin tsakiya akan layi
    # Ci gaba
    pass
elif status == [1, 0, 0]:  # Firikwensin hagu akan layi
    # Juya dama
    pass
elif status == [0, 0, 1]:  # Firikwensin dama akan layi
    # Juya hagu
    pass
# ... sauran sharuɗɗa don juya mai ƙarfi

Nunin Aiki Kai Tsaye

A cikin nunin bidiyon, an sanya motar akan hanya da aka buga tare da layi mai kauri mai baƙi. Motar tana bin layin cikin nasara, tana yin juyi da gyare-gyare yayin da take tafiya akan hanya. Bidiyon yana nuna matsala ta gama gari inda ƙafafun zasu iya sassautawa yayin juyi mai ƙarfi, kuma yana nuna mafita mai sauƙi na ƙara ɗan ƙaramin tef a kan sandar ƙafar don ɗaurewa mai ƙarfi. Da zarar an gyara wannan, motar tana kewaya dukan hanya cikin sauƙi, tana nuna ingancin daidaitawa da hanyar bin layi.

Sassan Bidiyo

• [00:00] Gabatarwa ga Bin Layi da Gano Dutsi
• [03:01] Haɗa Module na Firikwensin Launin Toga
• [04:39] Daidaita Firikwensin Launin Toga
• [13:05] Fahimtar Hanyar Bin Layi
• [19:43] Gwada Lambar Bin Layi
• [24:50] Nunin Kai Tsaye akan Hanyar Gwaji