Kwas 8 cikin 10: Motar Raspberry Pi Pico mai wayo – Kwas 8: Motar Servo da bin abu

Wannan koyawa wani ɓangare ne na: Kayan Mota Mai Wayo na SunFounder Rasberry Pi Pico Pico 4WD

Za a nuna fayilolin da suka shafi wannan rukunin tare. Hanyoyin haɗi zuwa wasu bidiyo suna ƙasa da wannan labarin.

Wannan darasin yana daga cikin: Rasberi Pi Pico 4WD Smart Mota

Tsallake zuwa:

Duk wani Darasi

Kalli a YouTube

Kwas 8 cikin 10: Motar Raspberry Pi Pico mai wayo – Kwas 8: Motar Servo da bin abu

pi_pico_4WD_follow-hand

Kayan aiki da kayan aiki

Wannan aikin ya dogara ne akan kayan aikin SunFounder Raspberry Pi Pico 4WD car kit. Abubuwan da aka yi amfani da su a wannan darasin sune:

Raspberry Pi Pico board
4WD Smart Car chassis tare da motoci
Servo motor (da kyau servo na ƙarfe don ɗorewa)
Ultrasonic distance sensor (HC-SR04)
Motor driver board (ɓangare na kayan aikin motar)
RGB LED (don nuna sakamako)
Madogarar wutar lantarki (baturi don motar)

PICOBOARDWHITEANGLE2_1200x857

Servo motor shine tushen aikin wannan darasin. Ba kamar motar DC da ke juyawa ba tare da tsayawa ba, servo motor an ƙera shi don juyawa zuwa wani matsayi na kusurwa kuma ya riƙe shi, yawanci tsakanin 0 zuwa 180 digiri. Wannan ya sa ya dace don nuna ultrasonic sensor daidai. Ingancin servo yawanci ana tantance shi ta kayan aikin gears (filastik ko ƙarfe) da kuma torque, wanda ke nuna ƙarfinsa da ɗorewarsa.

Yadda yake aiki

Wannan zane yana bayyana yadda lambar ke aiki.

pi_pico_4WD_follow-hand_flow_chart

Jagorar haɗin waya

Haɗin waya na wannan darasin yana da sauƙi, saboda yana gina kan kayan aikin motar da aka riga aka haɗa. Muhimmin haɗi shine servo motor, wanda dole ne a haɗa shi zuwa takamaiman GPIO pin akan Pico.

A cikin bidiyon, mai koyarwa yana haɗa servo zuwa pin lamba 18 akan Raspberry Pi Pico. Ultrasonic sensor an ɗora shi a saman servo horn, yana ba shi damar juyawa hagu da dama don duba yankin. Sauran haɗin waya na motoci, RGB LED, da wutar lantarki an ɗauka an riga an haɗa su daga darussa da suka gabata a cikin kwas ɗin.

Don cikakken jagorar gani, da fatan za a koma ga zanen haɗin waya a ƙasa.

Sunfounder_Pico4DW-08-Follow-hand-ultrasonic_direction

Bayanin lambar

Lambar Python na wannan darasin an gina ta ne a kan wani ɗakin karatu na musamman pico_4wd, wanda ke sauƙaƙa hulɗar kayan aiki masu rikitarwa. Sassan da mai amfani zai iya daidaita suna a saman rubutun kuma suna sarrafa halayen motar.

Ga mahimman masu canji waɗanda zaka iya daidaita su don tsara halayen "bin hannu" na robot ɗinka:

car.RADAR_REFERENCE = 25: Wannan shine matsakaicin nisa a santimita wanda sensor zai "gani." Duk wani abu da ya wuce wannan nisa ana watsi da shi. Zaka iya ƙara shi don sa motar ta fi kula da abu ko rage shi don buƙatar abu mafi kusa.
car.RADAR_MAX_ANGLE = 45 & car.RADAR_MIN_ANGLE = -45: Waɗannan suna bayyana kusurwoyin hagu (45) da dama (-45) waɗanda servo zai duba. Wannan yana ƙirƙirar filin gani na digiri 90 a gaban motar.
car.RADAR_STEP_ANGLE = 10: Wannan shine ƙarin (a digiri) da servo ke amfani da shi don motsawa tsakanin wuraren dubawa. Ƙaramin mataki (misali, 5) yana ba da ingantaccen bayani amma yana ɗaukar lokaci mai tsawo don kammala cikakken dubawa. Babban mataki (misali, 15) yana dubawa da sauri amma da ƙarancin daidaito.
MOTOR_FORWARD_POWER = 40: Wannan yana saita ƙarfin motar (0-100) da ake amfani da shi lokacin da motar ke motsawa gaba zuwa abin da aka gano. Daidaita wannan don canza saurin bin abu na motar.
MOTOR_TURNING_POWER = 40: Wannan yana saita ƙarfin motar da ake amfani da shi lokacin da motar ke juyawa don fuskantar abu. Ƙimar mafi girma zai sa motar ta juyo da ƙarfi sosai.

Babban tsarin aikin main() shine madauki mai ci gaba. Da farko yana kiran car.radar_scan(), wanda ke mayar da jerin '1' da '0' waɗanda ke nuna ko an gano abu a kowane kusurwar dubawa ('1' yana nufin abu yana cikin nisan da aka ayyana). Lambar sannan tana nazarin wannan jerin don nemo mafi girman rukuni na '1' masu jere, wanda ke nuna tsakiyar abin da aka gano. Dangane da inda wannan tsakiya yake a filin dubawa, ana umurtar motar ta juyo hagu, juyo dama, ko motsawa gaba don daidaita kanta da abin kuma ta bi shi.

Nuna aikin kai tsaye

Bidiyon ya ba da cikakkiyar nunin aikin a aikace. Mai koyarwa ya fara gudanar da gwajin rubutu don nuna yadda za a iya motsa motar servo zuwa madaidaitan kusurwoyi kamar 90, 0, da -90 digiri. Wannan yana da mahimmanci don fahimtar iyakar servo da kuma don dora na'urar ultrasonic daidai.

Bayan dora na'urar, an nuna fasalin "bin hannu". Yayin da mai koyarwa ke motsa hannunsa a gaban motar, na'urar servo da ke dauke da firikwensin tana duba hagu da dama. Hankalin motar yana sarrafa bayanan firikwensin kuma yana juya ƙafafun don karkata zuwa ga hannun da aka gano, yana bin shi a ƙasa. Nunin ya nuna yadda motar ke iya bin abu yayin da yake motsawa kuma ta daidaita alkiblarta daidai. An kuma nuna wani aiki na biyu, inda aka tsara motar don ta matso ta tura abu idan an gano shi tsakanin santimita 10 zuwa 20, kuma ta ja da baya idan abu ya matso sosai (kasa da santimita 10).

Muhimman Abubuwan Da Aka Koya

Wannan darasi kyakkyawan gabatarwa ne ga amfani da motocin servo don ƙirƙirar halayen mutum-mutumi masu mu'amala. Ta hanyar haɗa servo da firikwensin nesa, za ka iya gina mutum-mutumi mai "hankalin gani" wanda zai iya bin da kuma amsa ga muhallinsa. Ikon daidaita sigogi kamar kusurwoyin dubawa, girman mataki, da ƙarfin motar yana ba da damar sarrafa halayen mutum-mutumi sosai, wanda ke da mahimmanci ga kowane aikin robotics.

Babuka

[00:00] Gabatarwa ga Motar Servo da Bin Abu
[01:48] Fasaloli da Iyawar Kayan Kwas ɗin
[03:08] Fahimtar Aikin Motar Servo
[06:08] Gwajin Motar Servo da Lambar Python
[09:59] Bayanin Fasalin "Bin Hannu"
[10:49] Nunin Aikin "Bin Hannu"
[15:37] Aiki: Tura Abu da Ja da Baya
[18:40] Nunin Aikin Tura Abu
[19:25] Kammalawa da Matakai na Gaba

Hotuna

pico-4wd_main

pico-4wd_main

PICOBOARDWHITEANGLE2_1200x857

PICOBOARDWHITEANGLE2_1200x857

pi_pico_4WD_follow-hand

pi_pico_4WD_follow-hand

pi_pico_4WD_follow-hand_flow_chart

pi_pico_4WD_follow-hand_flow_chart

Sunfounder_Pico4DW-08-Follow-hand-ultrasonic_direction

Sunfounder_Pico4DW-08-Follow-hand-ultrasonic_direction

Wannan koyawa wani ɓangare ne na: Kayan Mota Mai Wayo na SunFounder Rasberry Pi Pico Pico 4WD

Da fatan za a duba wannan shafin cikin Turanci idan lambar ba ta bayyana ba. Muna baƙin ciki da rashin jin daɗi.

905-Lesson 8/10 Pi Pico 4WD card Python code: follow hand

Harshe: C++

# Lesson 8/10 Pi Car Pico 4WD: Follow hand
# Download and resource page https://robojax.com/RJT630

import pico_4wd as car

car.RADAR_REFERENCE = 25
car.RADAR_MAX_ANGLE = 45
car.RADAR_MIN_ANGLE = -45
car.RADAR_STEP_ANGLE = 10
MOTOR_FORWARD_POWER = 40
MOTOR_TURNING_POWER = 40

def main():
    while True:
        radar_data = car.radar_scan()
        if isinstance(radar_data, int):
            continue
        radar_data = [str(i) for i in radar_data]
        radar_data = "".join(radar_data)
        paths = radar_data.split("1")
        length_list = []
        for path in paths:
            length_list.append(len(path))
        if max(length_list) == 0:
            car.move("stop") 
        else:
            i = length_list.index(max(length_list))
            pos = radar_data.index(paths[i])
            pos += (len(paths[i]) - 1) / 2
            delta = len(radar_data) / 3
            if pos < delta:
                car.move("right", MOTOR_TURNING_POWER)
            elif pos > 2 * delta:
                car.move("left", MOTOR_TURNING_POWER)
            else:
                #if radar_data[int(len(radar_data)/2-1)] == "0":
                #    car.move("stop")
                #else:
                car.move("forward", MOTOR_FORWARD_POWER)

try:
    main()
finally:
    car.move("stop")
    car.set_light_off()

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