双轮平衡车实现自主平衡功能
本帖最后由 机器谱 于 2023-4-25 10:05 编辑1. 运动功能说明
R209样机是一款双轮小车，适合作为自平衡车的实验模型。本文示例将实现双轮小车自主平衡功能，当人为的去打破小车的平衡点时，小车会自动调节至平衡点并稳定下来。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAgg8bzoQYo9qGJkgYw9Ao4ugY!600x600.jpg.webp
2. 结构说明
该样机主要由两个 直流驱动轮模组【https://www.robotway.com/h-col-117.html】构成。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAglMrzoQYo_Lm6hAcw3wo4wgk!450x450.jpg.webphttps://28846868.s21i.faiusr.com/2/ABUIABACGAAg4MHzoQYopK6n0QYwzQE4-QE.jpg.webp
3. 电子硬件
在这个示例中，我们采用了以下硬件，请大家参考：
主控板Basra主控板（兼容Arduino Uno）
扩展板Bigfish2.1扩展板
传感器加速度传感器
电池7.4V锂电池
电路连接：将两个直流电机分别连接在Bigfish扩展板的（D5,D6）以及（D9,D10）接口上；加速度传感器连接在Bigfish扩展板的A0端口上。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAgn8zzoQYogPX0nwIwwBw4sBU!600x600.jpg.webp
4. 运动功能实现
编程环境：Arduino 1.8.19
将参考例程（self_balance_car.ino）下载到主控板，小车将实现双轮自平衡功能，运动效果可参考官网的实验演示视频。
/*------------------------------------------------------------------------------------
版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-04-12 https://www.robotway.com/
------------------------------*/
#include <SignalFilter.h>
SignalFilter Filter;
char filtered;
int a,b,c,d;
const int analogInPin = A0; // Analog input pin that the potentiometer is attached to
int sensorValue = 0; // value read from the pot
int outputValue = 0; // value output to the PWM (analog out)
void setup() {
// initialize serial communications at 9600 bps:
Serial.begin(9600);
Filter.begin();
Filter.setFilter('m');
Filter.setOrder(2);
}
void loop() {
// read the analog in value:
sensorValue = analogRead(analogInPin);
// map it to the range of the analog out:
char outputValue = map(sensorValue, 0, 1023, 0, 255);
filtered= Filter.run(outputValue);
int a=abs(filtered);
if((a>=91)&&(a<=100))
{
analogWrite(9,0);
analogWrite(10,0);
analogWrite(5,0);
analogWrite(6,0);
delay(5);}
if(a>=101)
{
c=a+(a-100)*5;
d=a+20+(a-100)*5;
analogWrite(9,0);
analogWrite(10,c);
analogWrite(5,0);
analogWrite(6,d);
delay(5);
analogWrite(9,30);
analogWrite(10,0);
analogWrite(5,40);
analogWrite(6,0);}
if(a<=90)
{c=a+(90-a)*3+40;
d=a+20+(90-a)*3+40;
analogWrite(9,c);
analogWrite(10,0);
analogWrite(5,d);
analogWrite(6,0);
delay(5);
analogWrite(9,0);
analogWrite(10,30);
analogWrite(5,0);
analogWrite(6,40);
}
Serial.print(a);Serial.print("/");
Serial.print(c);Serial.print("/");
Serial.println(d);
}
5. 资料下载
资料内容：
①例程源代码
②样机3D文件
资料下载地址：https://www.robotway.com/h-col-207.html
想了解更多机器人开源项目资料请关注 机器谱网站 https://www.robotway.com
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