小型双轮差速底盘机器人无线遥控功能的实现
本帖最后由 机器谱 于 2023-8-28 12:54 编辑1. 功能说明
本文示例实现的功能为:利用 探索者Birdmen手柄扩展板【https://www.robotway.com/h-col-142.html】 和 探索者NRF无线通信模块【https://www.robotway.com/h-col-141.html】 遥控R023样机小型双轮差速底盘做出前进、后退以及转向的动作。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAg56vmpgYonpWAjQQwwCA4sBg!600x600.jpg.webp
https://28846868.s21i.faiusr.com/3/ABUIABADGAAggqzmpgYokdr97wcwvgI4sAQ!400x400.gif.webp
2. 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) x2
扩展板Bigfish2.1扩展板 x1
Birdmen手柄扩展板x1
通信NRF无线通信模块 x2
电池7.4V锂电池
3. 功能实现
编程环境:Arduino 1.8.19
3.1下载固件
分别下载master_.ino和slave_.ino到两个Basra主控板(软件解析:master_.ino为上位机程序,slave_.ino为下位机程序)。
注意:先不要堆叠NRF无线通信模块,因为会占用串口,造成下载失败。
① 参考例程(master_.ino):
/*------------------------------------------------------------------------------------
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 2023-07-21 https://www.robotway.com/
------------------------------*/
int _ABVAR_1_A0Value = 0 ;
int _ABVAR_2_A1Value = 0 ;
void ADGet();
void SerialPrint();
void setup()
{
Serial.begin(9600);
}
void loop()
{
ADGet();
SerialPrint();
delay( 100 );
}
void SerialPrint()
{
if (( ( ( _ABVAR_1_A0Value ) == ( 0 ) ) && ( ( _ABVAR_2_A1Value ) == ( 1 ) ) ))
{
Serial.print("1");
Serial.println();
}
if (( ( ( _ABVAR_1_A0Value ) == ( 1 ) ) && ( ( _ABVAR_2_A1Value ) == ( 0 ) ) ))
{
Serial.print("2");
Serial.println();
}
if (( ( ( _ABVAR_1_A0Value ) == ( 1 ) ) && ( ( _ABVAR_2_A1Value ) == ( 1 ) ) ))
{
Serial.print("3");
Serial.println();
}
if (( ( ( _ABVAR_1_A0Value ) == ( 1 ) ) && ( ( _ABVAR_2_A1Value ) == ( 2 ) ) ))
{
Serial.print("4");
Serial.println();
}
if (( ( ( _ABVAR_1_A0Value ) == ( 2 ) ) && ( ( _ABVAR_2_A1Value ) == ( 1 ) ) ))
{
Serial.print("5");
Serial.println();
}
}
void ADGet()
{
_ABVAR_1_A0Value = analogRead(14) ;
_ABVAR_2_A1Value = analogRead(15) ;
_ABVAR_1_A0Value = map ( _ABVAR_1_A0Value , 0 , 1024 , 0 , 3 ) ;
_ABVAR_2_A1Value = map ( _ABVAR_2_A1Value , 0 , 1024 , 0 , 3 ) ;
}
② 参考例程(slave_.ino):
/*------------------------------------------------------------------------------------
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 2023-07-21 https://www.robotway.com/
------------------------------*/
int _ABVAR_1__data = 0 ;
int _ABVAR_2__data_his = 0 ;
int _ABVAR_3_0 = 0 ;
void Right();
void Select();
void Left();
void Stop();
void Forward();
void Back();
void setup()
{
Serial.begin(9600);
pinMode( 5 , OUTPUT);
pinMode( 6 , OUTPUT);
pinMode( 9 , OUTPUT);
pinMode( 10 , OUTPUT);
_ABVAR_1__data = 3 ;
_ABVAR_2__data_his = 3 ;
}
void loop()
{
_ABVAR_1__data = Serial.parseInt() ;
if (( ( _ABVAR_1__data ) > ( 0 ) ))
{
Select();
}
else
{
_ABVAR_1__data = _ABVAR_2__data_his ;
Select();
}
_ABVAR_2__data_his = _ABVAR_1__data ;
_ABVAR_1__data = _ABVAR_3_0 ;
delay( 50 );
}
void Left()
{
digitalWrite( 5 , LOW );
digitalWrite( 6 , HIGH );
digitalWrite( 9 , HIGH );
digitalWrite( 10 , LOW );
}
void Stop()
{
digitalWrite( 5 , LOW );
digitalWrite( 6 , LOW );
digitalWrite( 9 , LOW );
digitalWrite( 10 , LOW );
}
void Back()
{
digitalWrite( 5 , LOW );
digitalWrite( 6 , HIGH );
digitalWrite( 9 , LOW );
digitalWrite( 10 , HIGH );
}
void Forward()
{
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
digitalWrite( 9 , HIGH );
digitalWrite( 10 , LOW );
}
void Select()
{
if (( ( _ABVAR_1__data ) == ( 1 ) ))
{
Forward();
}
if (( ( _ABVAR_1__data ) == ( 2 ) ))
{
Back();
}
if (( ( _ABVAR_1__data ) == ( 3 ) ))
{
Stop();
}
if (( ( _ABVAR_1__data ) == ( 4 ) ))
{
Left();
}
if (( ( _ABVAR_1__data ) == ( 5 ) ))
{
Right();
}
}
void Right()
{
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
digitalWrite( 9 , LOW );
digitalWrite( 10 , HIGH );
}
3.2 硬件连接
① 将Birdmen手柄扩展板堆叠到下载了master_.ino的Basra主控板上,然后堆叠上NRF无线通信模块。
② 将Bigfish扩展板堆叠到下载了slave_.ino的Basra主控板上,再堆叠上NRF无线通信模块。
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAgzrLmpgYogMy84QcwrwM4mwE.png.webp
③ 将小型双轮差速底盘的直流电机连到Bigfish扩展板的电机接口上。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAghrPmpgYok83_4gQwwCA4sBg!450x450.jpg.webp
④ 用master右侧的摇杆遥控slave,调整电机的接线,直到摇杆动作和小车动作匹配。
4. 资料下载
资料内容:程序源代码
资料下载地址:小型双轮差速底盘-无线遥控 https://www.robotway.com/h-col-113.html
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