全地形爆破赛小车的制作
1. 比赛场地 场地中设定四种五个不同特点、不同难度的障碍物，每种障碍物均有一定的分值，参赛队根据比赛规则自主设计制作全地形小车，完成穿越各个障碍物的比赛。 障碍物分别为三种颜色的气球、楼梯、管道、窄桥，各障碍物由黑色引导线连接，形成完整的比赛赛道，并设置比赛起点和终点，比赛场地由组委会统一布置。 全地形小车启动后自动行驶并跨越其他三种障碍物（管道，窄桥，楼梯）后，需识别颜色板上随机色卡的颜色并扎破对应颜色气球。场地地面为 408cm×175cm（尺寸误差±3cm） 的宝丽布，四周有高度为 18cm 的围栏。场地地面设有起点线和终止线，距离边缘 90cm。部分障碍前后20cm 设有标志线，供参赛队伍参考使用。距离长边 60cm 的两条红线为装饰线。5 个 障碍物按位置安放，并以双面胶固定在场地地面上，不可移动。黑线用 3.8cm 宽低反光绝缘胶带铺设。
场地尺寸图片详见https://www.robotway.com/h-col-120.html
关于气球说明：气球颜色为：深红、深绿、深蓝气球大小（宽）：22cm和26cm之间，测量宽度方向以下图黑线示意为参考（横向最宽距离）；
气球安装角度：气球横放，气嘴朝向终点线反方向，气球底面中部与场地布紧贴，气球 与场地布通过粘度较高的双面胶固定（以侧向拍打不掉落为准），气球固定位置距离气球底面中点误差±5cm；
关于扎气球的装置说明：扎气球装置末端可采用细小尖锐物体，如曲别针、图钉、牙签等，机器人上场前将对扎气球装置进行检验；关于挡板布置，如下图蓝色外框（其中尺寸标注误差±10mm）
场地尺寸图片详见https://www.robotway.com/h-col-120.html
2. 示例样机 本文采用的示例样机是基于月球车样机改造的。在此样机的基础上，在四个前后轮上缠绕了履带片以增大轮径，提高越障的性能。另外，在车身上增加了一个舵机驱动的摆杆，摆杆的顶部可以安装针甚至排针，用来刺破气球。
3. 示例程序电子模块：Arduino UNO（Basra控制板×1，Bigfish扩展板）×1，灰度传感器×3，IIC颜色识别传感器）×1编程环境：Arduino1.8.19函数库：ServoTimer2、Adafruit_GFX、Adafruit_NeoPixel、MH_TCS34725
程序源代码如下：Hit_Ballon_Car_yeyeyeye.ino
/**=====================================================================================================**实验接线: |*=====================================================================================================** 车头* 灰度传感器： A2 A3 A4* *----------------** | |* | |* | |* | | 右侧* motor | | 车轮* 9,10 | | 5，6* | |* | |* | |* | |* | |* *----------------** 车尾* 舵机接线：* 气球舵机:3**/
#include<ServoTimer2.h> //调用舵机库函数ServoTimer2 myServo; //声明舵机#define Forward_Left_Speed 125 //小车前进时左轮速度#define Forward_Right_Speed 90//小车前进时右轮速度#define Back_Left_Speed 160 //小车后退时左轮速度#define Back_Right_Speed 110 //小车后退时右轮速度#define Left_Left_Speed 235 //小车左转时左轮速度#define Left_Right_Speed 240 //小车左转时右轮速度#define Right_Left_Speed 235 //小车右转时左轮速度#define Right_Right_Speed 240 //小车右转时右轮速度#define Car_speed_stop 255 //小车刹车制动的速度#define TrackingSensorNum 3 //小车寻迹时使用的灰度传感器数量
#define DEBUG //程序进入调试模式#define Debug_Color_Card //检测色卡颜色//#define Debug_Color_Balloon //检测气球颜色//#define Debug_Gray_Sensor //检测灰度传感器//#define Debug_Car_Forward //检测小车走直线
int servo_num = 1;//定义舵机数量int servo_port = 8;//定义舵机引脚float value_init = 5;//定义舵机初始角度int Car_DC_Motor_Pin = {9,10,5,6};//直流电机引脚int Gray_SensorPin={A4,A3,A2};//寻迹、检测路口传感器int f = 60; //定义舵机每个状态间转动的次数，以此来确定每个舵机每次转动的角度int motor_num = sizeof(Car_DC_Motor_Pin) / sizeof(Car_DC_Motor_Pin);//定义电机数量int Car_Head_Gray_SensorPin_Num = sizeof(Gray_SensorPin)/sizeof(Gray_SensorPin);//定义gray数量
bool finish=true;int Gray_Three = 0; //记录三个灰度传感器同时触发的次数（即记录小车经过特殊路口的次数）bool finish_all = true;//判断小车是否结束比赛（true表示没有结束比赛，false表示结束比赛）int color_detection_card = 0; //记录颜色传感器识别到色卡的数值（红色为1，蓝色为2，绿色为3）int color_detection_ballon = 0; //记录颜色传感器识别到气球的数值（红色为1，蓝色为2，绿色为3）enum{Forward=1,Back,Left,Right,Stop,ForwardSpeedDown,BackSpeedDown,ForwardRoad,Tracking_automatic};//小车各种模式状态
void setup() {delay(1500);Serial.begin(9600);//打开串口并启用9600波特率Motor_Sensor_Init();//电机及传感器引脚初始化Servo_Init(); //舵机引脚初始化Color_Init();delay(1000);//颜色引脚初始化#ifdef DEBUG //判断小车是否要进入调试模式 Car_Debug_Test();#endif}
void loop() {
Automatic_Tracking_analogRead();
}
Color_detection.ino
/*********************接线方式TCS3473x Arduino_UnoSDA A4SCL A5VIN 5VGND GND*************************/#include <Wire.h> //调用IIC库函数#include "MH_TCS34725.h" //调用颜色识别传感器库函数
//颜色传感器不同通道值设置MH_TCS34725 tcs = MH_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X); //设置颜色传感器采样周期50毫秒
void Color_Init(){if (tcs.begin()) { //如果检测到颜色传感器模块 Serial.println("Found sensor"); //串口打印 Found sensor} else { //如果没有检测到颜色传感器模块 Serial.println("No TCS34725 found ... check your connections");//串口打印：没有找到颜色识别传感器模块 while (1); // halt! //程序陷入死循环}}
/** color_judge red green* color_judge green red*/void return_color_ballon(){int numbers_count = 0;int color_judge={0,0,0,0,0,0,0,0,0,0,0,0};int red_summer,green_summer,blue_summer;Serial.println("---------------Start---------------");unsigned long time_now = millis();while( (millis() - time_now ) < 2000){ numbers_count ++; uint16_t clear, red, green, blue; tcs.getRGBC(&red, &green, &blue, &clear); if(red>=blue){color_judge = color_judge +1;} else{color_judge = color_judge +1;} if(red>=green){color_judge = color_judge +1;} else{color_judge = color_judge +1;}
if(blue>=red){color_judge = color_judge +1;} else{color_judge = color_judge +1;} if(blue>=green){color_judge = color_judge +1;} else{color_judge = color_judge +1;}
if(green>=red){color_judge = color_judge +1;} else{color_judge = color_judge +1;} if(green>=blue){color_judge = color_judge +1;} else{color_judge = color_judge +1;} }Serial.println();if( (color_judge > color_judge) && ((color_judge > color_judge)) ){#ifdef DEBUG Serial.println("The color is red");#endif color_detection_ballon = 1;}
else if( (color_judge > color_judge) && ((color_judge > color_judge)) ){#ifdef DEBUG Serial.println("The color is blue");#endif color_detection_ballon = 2;}
else if( (color_judge > color_judge) && ((color_judge > color_judge)) ){#ifdef DEBUG Serial.println("The color is green");#endif color_detection_ballon = 3; }else{#ifdef DEBUG Serial.println("None color");#endif }}
void return_color_card(){int numbers_count = 0;int color_judge={0,0,0,0,0,0,0,0,0,0,0,0};int red_summer,green_summer,blue_summer;Serial.println("---------------Start---------------");unsigned long time_now = millis();while( (millis() - time_now ) < 2000){ numbers_count ++; uint16_t clear, red, green, blue; tcs.getRGBC(&red, &green, &blue, &clear); if(red>=blue){color_judge = color_judge +1;} else{color_judge = color_judge +1;} if(red>=green){color_judge = color_judge +1;} else{color_judge = color_judge +1;}
if(blue>=red){color_judge = color_judge +1;} else{color_judge = color_judge +1;} if(blue>=green){color_judge = color_judge +1;} else{color_judge = color_judge +1;}
if(green>=red){color_judge = color_judge +1;} else{color_judge = color_judge +1;} if(green>=blue){color_judge = color_judge +1;} else{color_judge = color_judge +1;} }Serial.println();if( (color_judge > color_judge) && ((color_judge > color_judge)) ){#ifdef DEBUG Serial.println("The color is red");#endif color_detection_card = 1;}
else if( (color_judge > color_judge) && ((color_judge > color_judge)) ){#ifdef DEBUG Serial.println("The color is blue"); #endif color_detection_card = 2;}else if( (color_judge > color_judge) && ((color_judge > color_judge)) ){#ifdef DEBUG Serial.println("The color is green");#endif color_detection_card = 3; }else{#ifdef DEBUG Serial.println("None color");#endif }}
void color(){uint16_t clear, red, green, blue;tcs.getRGBC(&red, &green, &blue, &clear);Serial.print("red:");Serial.print(red);Serial.print(" | ");Serial.print("blue:");Serial.print(blue);Serial.print(" | ");Serial.print("green:");Serial.println(green);}
Servo_Move_Control.ino
//===================舵机========================舵机=======================舵机=======================舵机===========================舵机==========================舵机==============================舵机==============================舵机//====舵机===========================舵机======================舵机=======================舵机=========================舵机==========================舵机============================舵机==================================舵机=============//===================舵机========================舵机=======================舵机=======================舵机===========================舵机==========================舵机==============================舵机==============================舵机//void Servo_Init()//{// for(int i=0;i<servo_num;i++)// {//// myServo.attach(servo_port);//// myServo.write(map(value_init,0,180,500,2500));//// delay(20);// myServo.attach(servo_port);// myServo.write(map(value_init,0,180,500,2500));// delay(20);// }//}
void Servo_Init(){for(int i=0;i<servo_num;i++){// myServo.attach(servo_port);// myServo.write(map(value_init,0,180,500,2500));// delay(20); myServo.attach(servo_port); myServo.write(map(value_init,0,180,500,2500)); delay(20);}}
//void ServoStop(int which){//释放舵机// myServo.detach();// digitalWrite(servo_port,LOW);//}
void ServoStop(){//释放舵机myServo.detach();digitalWrite(servo_port,LOW);}
//void ServoGo(int which , float where){//打开并给舵机写入相关角度// if(where!=200){// if(where==201) ServoStop(which);// else{// myServo.write(map(where,0,180,500,2500));// }// }//}
void ServoGo(float where){//打开并给舵机写入相关角度if(where!=200){ if(where==201) ServoStop(); else{ myServo.write(map(where,0,180,500,2500)); }}}
void Servo_Move_Single(int Start_angle,int End_angle,unsigned long Servo_move_time){int servo_flags = 0;int delta_servo_angle = abs(Start_angle-End_angle);if( (Start_angle - End_angle)<0 ){ servo_flags = 1;}else{ servo_flags = -1; }for(int i=0;i<delta_servo_angle;i++){ myServo.write(map( Start_angle+(servo_flags*i) ,0,180,500,2500)); delay(Servo_move_time);}}
//void servo_move(float value0, float value1, float value2,int delaytimes){ //舵机动作函数// float value_arguments[] = {value0, value1, value2};// float value_delta;// for(int i=0;i<servo_num;i++){// value_delta = (value_arguments - value_init) / f;// }// for(int i=0;i<f;i++){// for(int k=0;k<servo_num;k++){// value_init = value_delta == 0 ? value_arguments : value_init + value_delta;// }// for(int j=0;j<servo_num;j++){// ServoGo(j,value_init);// }// delay(delaytimes/f);// }//}
void Zha_Qi_Qiu(int Numbers){for(int i=0;i<Numbers;i++){// myServo.write(map( 130 ,0,180,500,2500));delay(350); myServo.write(map( 175 ,0,180,500,2500));delay(1000); myServo.write(map( 5 ,0,180,500,2500));delay(1000);// Servo_Move_Single(130,,2);delay(1000);// Servo_Move_Single(30,130,3);delay(1000);}}
4. 资料内容全地形排爆车样机3D文件全地形排爆车完整程序全地形排爆车例程配套函数库全地形爆破赛-场地制作文件
资料下载链接https://www.robotway.com/h-col-120.html
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