Lis ya ete ya 9 kati ya 10: Koboya Bopekami na kosalela Raspberry Pi Pico 4WD Smart Car

Lis ya ete ya 9 kati ya 10: Koboya Bopekami na kosalela Raspberry Pi Pico 4WD Smart Car

Libosoli

Buku oyo, esalemaki na ndakisa ya Lesson 9 ya 10 ya Robojax, elakisi ndenge ya kosala robot oyo ekimaka mikakatano na kosalela SunFounder Raspberry Pi Pico 4WD Smart Car kit. Proje oyo esangisi servo oyo etambwisaka sensor ya ultrasonic na contrôle ya moteur mpo na kosala robot oyo ekoki kotambola na yango moko na environment na yango. Na kopelolola sensor lokola radar, motuka ekutanaka na mikakatano mpe eponaka na mayele nzela ya pole mpo na kokoba, mpe yango esalaka ete ezala introduction ya malamu mingi na robotique, intégration ya ba-sensors, mpe navigation autonome.

Proje oyo ezali kaka eloko ya masano te; ezali fondasio mpo na ba-application ebele ya pratique. Tala ba-idee moko ya kopelisa yo:

• Robot ya Exploration Autonome: Sala robot oyo ekoki kosala carte mpe kotala chambre to espace ya libanda na ngolu ya moto te.
• Vacuum Cleaner ya Mayele: Salela mitindo yango moko mpo na kosala robot oyo etambolaka na chambre, ekimaka ba-meuble mpe ba-mir mpe kopetola.
• Bot ya Sécurité: Programme motuka mpo na kopatrola périmètre mpe kosalela sensor ya ultrasonic mpo na koyeba mpe kopesa rapport na mikakatano to ba-intrusions oyo esengeli te.
• Plateforme ya Éducation mpo na AI: Salela proje oyo lokola étape mpo na koyekola ba-algorithmes ya complexe lokola pathfinding mpe simultaneous localization and mapping (SLAM).

Lesson oyo elukisaka logique ya ntina mpe code oyo esalaka ete motuka ekoka kozwa ba-décisions. Motuka esalelaka moteur ya servo mpo na kopelolola sensor ya ultrasonic, lokola radar mpo na komeka ba-distances longwa na 0 kino na 180 degrés. Code yango anyokolaka ba-données oyo mpo na koyeba nzela ya pole oyo ezali na pole mpe etambwisaka motuka mpo na kokende liboso, na gauche to na droite kolanda yango. Vidéo yango emonisaka processus mobimba, longwa na komeka ba-composants moko na moko kino na kosala algorithme ya suka ya obstacle avoidance na labyrinthe ya réel.

Matériel/Ba-composants

Proje oyo esalemaki na SunFounder Raspberry Pi Pico 4WD Smart Car kit. Ba-composants ya ntina oyo basalelaki na lesson oyo ezali:

• Microcontrôleur Raspberry Pi Pico
• Châssis ya SunFounder 4WD Smart Car na ba-moteur minei
• Board ya driver ya moteur
• Sensor ya distance ya ultrasonic (type HC-SR04)
• Moteur ya servo (mpo na kopelolola sensor ya ultrasonic)
• Source ya puissance (ba-batteries mpo na motuka)

Guide ya Câblage

Kit ya SunFounder esalemaki mpo na assemblage ya pete, mpe câblage ezali mingi connecté liboso na expansion board ya dédié. Sensor ya ultrasonic ezali monté na moteur ya servo, oyo ezali connecté na board ya contrôle principal. Configuration oyo esalaka ete sensor ekoka kopelolama mpo na kotala environment. Mpo na diagramme ya câblage détaillé oyo ekokani na kit na yo, tala documentation officielle ya SunFounder.

Ba-connexions ya ntina ezali na ba-pins ya trigger mpe echo ya sensor ya ultrasonic, mpe pin ya signal ya moteur ya servo, nyonso oyo ezali connecté na ba-pins ya GPIO spécifiques na Raspberry Pi Pico. Driver ya moteur mpe ezali connecté na Pico mpo na kokamba ba-moteur minei ya motambwisi. Vidéo elobaki ete documentation mobimba, na ba-diagrammes ya câblage, ezali disponible mpo na téléchargement na kit.

Explication ya Code

Lesson oyo elukisaka logique na kati ya exemple ya `obstacle_avoid`. Code yango ekomami na MicroPython. Atako programme mobimba ezali disponible mpo na téléchargement, tokotalaka ba-paramètres ya ntina oyo utilisateur akoki kobongola mpo na kokamba ezaleli ya motuka. Ba-paramètres oyo ezali mingi na likolo ya script.

Tala ba-variables ya ntina oyo okoki kobongola mpo na kozongisa performance ya robot na yo:

# Ba-paramètres ya Radar mpe mouvement
radar_reference = 20  # Distance minimale na cm oyo ezali considérée lokola sûre
step_angle = 10       # Incrément ya angle mpo na étape nyonso ya scan ya radar
forward_speed = 30    # Vitesse ya moteur mpo na kokende liboso (0-100)
turn_speed = 50       # Vitesse ya moteur mpo na kobongola (0-100)
forward_scan_angle = 50  # Angle oyo servo escanaka ntango obstacle ezwami te

• radar_reference: Oyo ezali distance ya sécurité ya ntina na centimètres. Soki obstacle ezwami pene koleka valeur oyo, motuka ekomona yango lokola "danger" mpe ebanda manœuvre ya kokima. Na vidéo, oyo esalemi na 20 cm.
• step_angle: Oyo endimaka résolution ya scan ya radar. Valeur moke (ex., 10 degrés) elakisi scan détaillé mingi kasi ezali na ntango molai. Valeur monene ekozala noki kasi ekoki kozanga ba-obstacles ya moke.
• forward_speed & turn_speed: Ba-paramètres oyo bakambaka puissance oyo epesameli ba-moteur. Okoki kobongola mpo na kobongola vitesse générale mpe agilité ya motuka. Vitesse ya kobongola ezali mingi mise na likolo mpo na kopesa motuka makoki ya kopivoter na nguya.
• forward_scan_angle: Ntango danger ya mbala moko ezali te liboso, motuka ekomisaka scan na yango na angle oyo (centré na liboso) mpo na kotala ba-obstacles mbala mingi na nzela ya semba, mpo na mouvement ya liboso oyo ezali pete.

Vidéo oyo esengeli kolimbola mpe lolenge ya kosala bikateli. Fonction moko `get_direction()` esengeli kotala liste ya ba distances (balongolami na 1 mpe 0 mpo na libateli/ebeba) mpo na koluka nzela monene ya "1" oyo ezali na libateli. Kolandela esika nzela wana ezali, fonction ezongisaka direction: "liboso", "gauche", to "droite". Boucle principale esalaka mpe likambo oyo elandani, kopesa voiture direction mpe kotala lisusu tii ntango nzela ezali polele.

Projet/Emmonstration ya bomoi

Vidéo oyo emonisaka malamu projet yango. Ebandi na komeka sensor ya ultrasonic moko mpo na kolakisa ndenge esengeli komeka distance mpe kokoma ba valeurs na shell. Moteyi alimbolaka mpe algorithme ya koboya ba obstacles na flowchart, kolimbola malamu ndenge ya kosala bikateli mpo na kotambola na gauche mpe droite. Na suka, voiture etiyamaki na labyrinthe moke oyo esalemaki na ba boîtes mpo na kolakisa ndenge ya koboya ba obstacles ezali kosala. Voiture elongaki na kotambola na labyrinthe, kotambola na gauche mpe droite mpo na koluka nzela ya polele liboso.

Bibeseni ya Vidéo

• [00:00] Introduction na Koboya ba Obstacles
• [01:31] Botali ya SunFounder Smart Car Kit mpe Ba Fonctionnalités
• [02:47] Ndenge Fonctionnalité ya Koboya ba Obstacles Esalaka
• [03:34] Komeka Sensor ya Ultrasonic
• [07:45] Kolimbola Algorithme ya Koboya ba Obstacles mpe Flowchart
• [12:49] Kotala Code ya Koboya ba Obstacles
• [15:43] Emmonstration ya bomoi ya Logique ya Koboya ba Obstacles
• [22:53] Emmonstration ya suka na Labyrinthe ya ba Obstacles
• [24:35] Conclusion mpe Ba Étapes oyo elandani

Images

pico-4wd_main

PICOBOARDWHITEANGLE2_1200x857

Sunfounder_Pico4DW-09-Obstacle-avoidance setup with obstacle on the floor

Sunfounder_Pico4DW-09-Obstacle-avoidance_when ultrasonic detects obstacle

pico-4wd_main

PICOBOARDWHITEANGLE2_1200x857

Sunfounder_Pico4DW-09-Obstacle-avoidance setup with obstacle on the floor

Sunfounder_Pico4DW-09-Obstacle-avoidance_when ultrasonic detects obstacle

# Lesson 9/10 Pi Car Pico 4WD: Obstacle avoid
# Download and resource page https://robojax.com/RJT631
import pico_4wd as car
import time

car.RADAR_REFERENCE = 20
car.RADAR_STEP_ANGLE = 10
MOTOR_FORWARD_POWER = 30
MOTOR_TURNING_POWER = 50

FORWARD_SCAN_ANGLE = 50

car.set_radar_scan_angle(FORWARD_SCAN_ANGLE)
status = "Danger"

def get_dir(radar_data):
    # get scan status of 0, 1
    # print(radar_data)
    radar_data = [str(i) for i in radar_data]
    radar_data = "".join(radar_data)
    # Split 0, leaves the free path
    paths = radar_data.split("0")
    # print(paths)
    # print("paths: %s" % paths)
    length_list = []
    # Calculate where is the widest
    for path in paths:
        length_list.append(len(path))
    if max(length_list) < 4:
        return "left"
    # Calculate the direction of the widest 
    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:
        return "left"
    elif pos > 2 * delta:
        return "right"
    else:
        return "forward"

def main():
    global status
    # General
    while True:
        radar_data = car.radar_scan()
        # print("radar_data: %s" % radar_data)
        # If radar data return a int, means scan not finished, and the int is current angle status
        if isinstance(radar_data, int):
            if radar_data == 0 and status != "Danger":
                print("Danger!")
                status = "Danger"
                car.move("stop")
                car.set_radar_scan_angle(180)
            continue
        else:
            status = "Save"
        
        direction = get_dir(radar_data)

        if direction == "left":
            print("turn left")
            distance = car.get_radar_distance_at(-FORWARD_SCAN_ANGLE/2)
            time.sleep(0.5)
            car.move("left", MOTOR_TURNING_POWER)
            while True:
                distance = car.get_radar_distance_at(-FORWARD_SCAN_ANGLE/2)
                status = car.get_radar_status(distance)
                if status == 1:
                    break
            car.move("stop")
            car.set_radar_scan_angle(FORWARD_SCAN_ANGLE)
        elif direction == "right":
            print("turn right")
            distance = car.get_radar_distance_at(FORWARD_SCAN_ANGLE/2)
            time.sleep(0.5)
            car.move("right", MOTOR_TURNING_POWER)
            while True:
                distance = car.get_radar_distance_at(FORWARD_SCAN_ANGLE/2)
                status = car.get_radar_status(distance)
                if status == 1:
                    break
            car.move("stop")
            car.set_radar_scan_angle(FORWARD_SCAN_ANGLE)
        else:
            print("forward")
            car.set_radar_scan_angle(FORWARD_SCAN_ANGLE)
            car.move("forward", MOTOR_FORWARD_POWER)

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