1、精選文檔 課程結(jié)課總結(jié)報(bào)告課程名稱： 機(jī)器人的制作 實(shí)驗(yàn)一 基于arduino控制器的輪式機(jī)器人循跡避障功能設(shè)計(jì)實(shí)驗(yàn)二 應(yīng)變式傳感器電子秤實(shí)驗(yàn)實(shí)驗(yàn)三 基于C51單片機(jī)控制器的輪式機(jī)器人電機(jī)控制系統(tǒng)實(shí)驗(yàn)四 基于ARM控制器的博創(chuàng)平臺(tái)輪式機(jī)器人循跡避障功能實(shí)現(xiàn)實(shí)驗(yàn)五 攝像頭實(shí)現(xiàn)輪式機(jī)器人循跡功能的應(yīng)用實(shí)驗(yàn)六 應(yīng)用卓越聯(lián)盟實(shí)驗(yàn)室設(shè)備進(jìn)行設(shè)計(jì)和實(shí)現(xiàn)作品說明 指導(dǎo)教師 許曉飛 系 別 機(jī)電工程學(xué)院 專 業(yè) 機(jī)械電子工程 學(xué)生姓名 鄧銀濤 班級/學(xué)號(hào) 機(jī)電1401/2014010339 成 績 實(shí)驗(yàn)一 基于ardunio控制器的輪式機(jī)器人循跡避障功能設(shè)計(jì)實(shí)驗(yàn)?zāi)康?.了解ardunio平臺(tái)，并熟練使用此軟件

2、完成小車的各種活動(dòng)2.了解HC-SR04超聲波測距模塊的原理，并且熟練使用此模塊作為小車的傳感器進(jìn)行工作3.了解并且熟悉紅外線傳感器循跡原理實(shí)驗(yàn)器材：Adrunio軟件，超聲波傳感器，紅外線傳感器，導(dǎo)線，底板，電機(jī)，電池，單片機(jī)等實(shí)驗(yàn)內(nèi)容：1.將硬件組裝成小車，即輪式機(jī)器人2.利用ardunio使小車完成循跡功能步驟：（1）寫好后綴為.txt的c語言循跡文件 （2）將文件導(dǎo)入單片機(jī)中 （3）根據(jù)具體路況，運(yùn)行并且進(jìn)行調(diào)試紅外線傳感器的靈敏程度3.利用ardunio使小車完成避障功能步驟：（1）寫好后綴為.txt的c語言避障文件 （2）將文件導(dǎo)入單片機(jī)中 （3）運(yùn)行并且進(jìn)行調(diào)試小車躲避障礙物的距

3、離實(shí)驗(yàn)程序1.循跡程序：小車循跡程序思路圖#include int Left_motor_back=8; /左電機(jī)后退(IN1)int Left_motor_go=9; /左電機(jī)前進(jìn)(IN2)int Right_motor_go=10; / 右電機(jī)前進(jìn)(IN3)int Right_motor_back=11; / 右電機(jī)后退(IN4)int key=7;/定義按鍵 數(shù)字7 接口const int SensorRight = 3; /右循跡紅外傳感器(P3.2 OUT1)const int SensorLeft = 4; /左循跡紅外傳感器(P3.3 OUT2)int SL; /左循跡紅外傳感器

4、狀態(tài)int SR; /右循跡紅外傳感器狀態(tài)void setup() /初始化電機(jī)驅(qū)動(dòng)IO為輸出方式 pinMode(Left_motor_go,OUTPUT); / PIN 8 (PWM) pinMode(Left_motor_back,OUTPUT); / PIN 9 (PWM) pinMode(Right_motor_go,OUTPUT);/ PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);/ PIN 11 (PWM) pinMode(key,INPUT);/定義按鍵接口為輸入接口 pinMode(SensorRight, INPUT); /定義

5、右循跡紅外傳感器為輸入 pinMode(SensorLeft, INPUT); /定義左循跡紅外傳感器為輸入void run(int time) / 前進(jìn)void run() digitalWrite(Right_motor_go,HIGH); / 右電機(jī)前進(jìn) digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,255);/PWM比例0255調(diào)速 analogWrite(Right_motor_back,0); digitalWrite(Left_motor_go,HIGH); / 左電機(jī)前進(jìn) digitalWrite(

6、Left_motor_back,LOW); analogWrite(Left_motor_go,255);/PWM比例0255調(diào)速 analogWrite(Left_motor_back,0); /delay(time * 50); /執(zhí)行時(shí)間，可以調(diào)整 /void left(int time) /左轉(zhuǎn)(左輪不動(dòng)，右輪前進(jìn))void left() digitalWrite(Right_motor_go,HIGH);/ 右電機(jī)前進(jìn) digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,200); analogWrite(Ri

7、ght_motor_back,0);/PWM比例0255調(diào)速 digitalWrite(Left_motor_go,LOW); /左輪后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,100);/PWM比例0255調(diào)速 /delay(time * 50);/執(zhí)行時(shí)間，可以調(diào)整 void right(int time) /右轉(zhuǎn)(右輪不動(dòng)，左輪前進(jìn))void right() digitalWrite(Right_motor_go,LOW); /右電機(jī)后退 d

8、igitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,100);/PWM比例0255調(diào)速 digitalWrite2.避障程序：char L1 = 9 ; / zhengchar L2 = 8 ;char R1 = 10 ; / zhengchar R2 = 11 ;int echopin = 13 ; int trigpin = 12 ; void setup ( ) /初始化動(dòng)作的區(qū)塊，定義串行端口和腳位 pinMode ( echopin , INPUT

9、 ) ; / pwm pinMode ( trigpin , OUTPUT ) ; void loop ( )/版子重復(fù)執(zhí)行動(dòng)作的區(qū)塊 int currDist ; long randnumber ; currDist = MeasureDistance ( ) ; / 讀取前端距離 delay ( 5 ) ; if ( currDist 10 ) straight( ); if ( currDist 5 ) back ( ); delay ( 1000 ); turnright ( ); delay ( 800 ); else back ( ) ; delay ( 1000 ) ; turn

10、left ( ) ; delay ( 800 ) ; int MeasureDistance ( ) digitalWrite ( trigpin , LOW ) ; delay ( 2 ) ; digitalWrite ( trigpin , HIGH ) ; delay ( 10 ) ; digitalWrite ( trigpin , LOW ) ; int distance = pulseIn ( echopin , HIGH ) ; distance = distance / 58.0 ; / 計(jì)算距離 344 * 100 / 1000000 * pulseIn ( ) / 2 de

11、lay ( 60 ) ; / 循環(huán)間隔60uS return ( distance ) ; void straight ( ) analogWrite ( L1 ,100 ) ; / 255 0 zhengzhuan analogWrite ( L2 ,0 ) ; analogWrite ( R1 , 100 ) ; / 255 0 zhengzhuan analogWrite ( R2 , 0 ) ;void turnright ( ) analogWrite ( L1 ,100 ) ; / 255 0 zhengzhuan analogWrite ( L2 ,0 ) ; analogWri

12、te ( R1 ,0 ) ; / 255 0 zhengzhuan analogWrite ( R2 ,0 ) ; void turnleft ( ) analogWrite ( L1 , 0 ) ; / 255 0 zhengzhuan analogWrite ( L2 , 0 ) ; analogWrite ( R1 , 100 ) ; / 255 0 zhengzhuan analogWrite ( R2 , 0 ) ; void back() analogWrite ( L1 , 0 ) ; / 255 0 zhengzhuan analogWrite ( L2 , 100) ; an

13、alogWrite ( R1 , 0 ) ; / 255 0 zhengzhuan analogWrite ( R2 , 100 ) ; 實(shí)驗(yàn)過程中遇到的問題及解決辦法循跡中：1.電機(jī)速度差異控制：發(fā)現(xiàn)左右輪寫入同一數(shù)值時(shí)，小車行進(jìn)方向偏離直線，對左右兩輪寫入不同數(shù)值，多次測試，指導(dǎo)左右輪速度相等。2.電機(jī)驅(qū)動(dòng)器給arduino供電出現(xiàn)問題，改用充電寶給arduino供電，直接從gnd和5v輸出腳給電機(jī)驅(qū)動(dòng)器供電 3.一個(gè)電機(jī)有兩根信號(hào)輸入線，一根控制正轉(zhuǎn)，一根控制反轉(zhuǎn)。兩個(gè)輪子一起測轉(zhuǎn)地眼暈，容易出錯(cuò)。避障中：1.超聲裝置避障距離的確定將HC-SR04超聲波避障程序中數(shù)值改短，提高避障靈敏性

14、2.硬件的安裝：超聲裝置無法固定曾嘗試過用膠帶，廢舊車輪等但不理想，并未得到很好的解決實(shí)驗(yàn)結(jié)果小車可以成功的進(jìn)行循跡和避障 實(shí)驗(yàn)二 電子秤實(shí)驗(yàn)一 單臂實(shí)驗(yàn)數(shù)據(jù)處理源碼： axis(0 200 0 50)coords=0 20 40 60 80 100 120 140 160 180 200;0 2.8 5.1 7.5 9.9 12.4 14.8 17.2 19.6 22.0 24.6 gridholdplot(coords(1,:),coords(2,:),*)x=coords(1,:) y=coords(2,:) b=size(coords)c=ones(1,b(2) MT=c;x M=MT

15、 f=inv(MT*M)*MT*y y=,num2str(f(2),x+,num2str(f(1) x=-max(x)：max(x) y=f(1)+f(2)*x mistake=max(x-y)/(max(y)-min(y); fprintf(電阻傳感器的系數(shù)靈敏度S=%5.3f%n,abs(f(2) fprintf(非線性誤差f=%5.3f%n,mistake) plot(x,y,-)xlabel(x/g)ylabel(V/mv)title(單臂實(shí)驗(yàn))legend(y=,num2str(f(2),x+,num2str(f(1)Matlab處理結(jié)果電阻傳感器的系數(shù)靈敏度S=0.122%非線性誤

16、差f=3.607%半橋?qū)嶒?yàn)源碼：axis(0 200 0 50)coords=0 20 40 60 80 100 120 140 160 180 200;0 4.0 8.8 13.7 18.6 23.5 18.4 33.2 38.2 43.1 47.9 gridholdplot(coords(1,:),coords(2,:),*)x=coords(1,:) y=coords(2,:) b=size(coords)c=ones(1,b(2) MT=c;x M=MT f=inv(MT*M)*MT*y y=,num2str(f(2),x+,num2str(f(1) x=-max(x)：max(x)

17、y=f(1)+f(2)*x mistake=max(x-y)/(max(y)-min(y); fprintf(電阻傳感器的系數(shù)靈敏度S=%5.3f%n,abs(f(2) fprintf(非線性誤差f=%5.3f%n,mistake) plot(x,y,-)xlabel(x/g)ylabel(V/mv)title(半橋?qū)嶒?yàn))legend(y=,num2str(f(2),x+,num2str(f(1)Matlab處理結(jié)果電阻傳感器的系數(shù)靈敏度S=0.238%非線性誤差f=1.615%全橋?qū)嶒?yàn)源碼：axis(0 200 0 100)coords=0 20 40 60 80 100 120 140 1

18、60 180 200; 0 7.4 15.3 23.1 30.9 38.8 46.7 54.6 62.6 70.5 78.4 gridholdplot(coords(1,:),coords(2,:),*)x=coords(1,:) y=coords(2,:) b=size(coords)c=ones(1,b(2) MT=c;x M=MT f=inv(MT*M)*MT*y y=,num2str(f(2),x+,num2str(f(1) x=-max(x)：max(x) y=f(1)+f(2)*x mistake=max(x-y)/(max(y)-min(y); fprintf(電阻傳感器的系數(shù)靈

19、敏度S=%5.3f%n,abs(f(2) fprintf(非線性誤差f=%5.3f%n,mistake) plot(x,y,-)xlabel(x/g)ylabel(V/mv)title(全橋?qū)嶒?yàn))legend(y=,num2str(f(2),x+,num2str(f(1)Matlab數(shù)據(jù)處理電阻傳感器的系數(shù)靈敏度S=0.393%非線性誤差f=0.774%實(shí)驗(yàn)三 基于C51單片機(jī)控制器的輪式機(jī)器人電機(jī)控制系統(tǒng)實(shí)驗(yàn)?zāi)康牧私釶WM波控制電機(jī)的原理?；贑51單片機(jī)利用PWM波控制電機(jī)。實(shí)驗(yàn)器材C51單片機(jī)、L298N驅(qū)動(dòng)芯片、直流電機(jī)、杜邦線、普通導(dǎo)線、keil軟件、STC下載器、示波器實(shí)驗(yàn)內(nèi)容用k

20、eil新建一個(gè)“.c”文件，編寫程序并對程序進(jìn)行調(diào)試。將程序燒錄進(jìn)單片機(jī)內(nèi)。進(jìn)行硬件連接C51引腳如圖所示：L298N引腳如圖所示：用單片通過P1.0、P1.1和L298的第一對輸入端IN1和IN2相連，然后又L298的第一對輸出端OUT1和OUT2與直流電機(jī)相連；單片通過P1.5、P1.6和L298的第二對輸入端IN3和IN4相連，然后又L298的第二對輸出端OUT3和OUT4與直流電機(jī)相連。給單片機(jī)上電。用示波器觀察波形。程序內(nèi)容1、PWM波控制電機(jī)啟動(dòng)#include reg51.h#include intrins.h#define FOSC 11059200Ltypedef unsig

21、ned char BYTE;typedef unsigned int WORD;void delay_ms(int x);/*Declare SFR associated with the PCA */sfr CCON = 0xD8; /PCA control registersbit CCF0 = CCON0; /PCA module-0 interrupt flagsbit CCF1 = CCON1; /PCA module-1 interrupt flagsbit CR = CCON6; /PCA timer run control bitsbit CF = CCON7; /PCA ti

22、mer overflow flagsfr CMOD = 0xD9; /PCA mode registersfr CL = 0xE9; /PCA base timer LOWsfr CH = 0xF9; /PCA base timer HIGHsfr CCAPM0 = 0xDA; /PCA module-0 mode registersfr CCAP0L = 0xEA; /PCA module-0 capture register LOWsfr CCAP0H = 0xFA; /PCA module-0 capture register HIGHsfr CCAPM1 = 0xDB; /PCA mo

23、dule-1 mode registersfr CCAP1L = 0xEB; /PCA module-1 capture register LOWsfr CCAP1H = 0xFB; /PCA module-1 capture register HIGHsfr PCAPWM0 = 0xf2;sfr PCAPWM1 = 0xf3;sbit IN1=P10; sbit IN2 = P11;sbit IN3=P15; sbit IN4 = P16;void main() CCON = 0; /Initial PCA control re CL = 0; /Reset PCA base timer C

24、H = 0; CMOD = 0x02; /Set PCA timer clock source as Fosc/2CR = 1; /PCA timer start runwhile(1)int i;IN1=0; IN2=1; IN3=0; IN4=1;for(i=100;i=0;i-) CCAP0H = CCAP0L =i; /PWM0 port output 50% duty cycle square wave CCAPM0 = 0x42; /PCA module-0 work in 8-bit PWM mode and no PCA interruptCCAP1H = CCAP1L = i

25、;CCAPM1 = 0x42; delay_ms(100);for(i=0;i=0;i-) CCAP0H = CCAP0L =i; /PWM0 port output 50% duty cycle square wave CCAPM0 = 0x42; /PCA module-0 work in 8-bit PWM mode and no PCA interruptCCAP1H = CCAP1L = i;CCAPM1 = 0x42; delay_ms(100);for(i=0;i0;x-) for(y=0;y1000;y+);控制方向#include reg51.h#include intrin

26、s.h#define FOSC 11059200Ltypedef unsigned char BYTE;typedef unsigned int WORD;sbit IN1 = P10;sbit IN2 = P11;void main() IN1=0;IN2=1;PWM波對電機(jī)調(diào)速#include reg51.h#include intrins.h#define FOSC 11059200Ltypedef unsigned char BYTE;typedef unsigned int WORD;/*Declare SFR associated with the PCA */sfr CCON =

27、 0xD8; /PCA control registersbit CCF0 = CCON0; /PCA module-0 interrupt flagsbit CCF1 = CCON1; /PCA module-1 interrupt flagsbit CR = CCON6; /PCA timer run control bitsbit CF = CCON7; /PCA timer overflow flagsfr CMOD = 0xD9; /PCA mode registersfr CL = 0xE9; /PCA base timer LOWsfr CH = 0xF9; /PCA base

28、timer HIGHsfr CCAPM0 = 0xDA; /PCA module-0 mode registersfr CCAP0L = 0xEA; /PCA module-0 capture register LOWsfr CCAP0H = 0xFA; /PCA module-0 capture register HIGHsfr CCAPM1 = 0xDB; /PCA module-1 mode registersfr CCAP1L = 0xEB; /PCA module-1 capture register LOWsfr CCAP1H = 0xFB; /PCA module-1 captu

29、re register HIGHsfr PCAPWM0 = 0xf2;sfr PCAPWM1 = 0xf3;void main() CCON = 0; /Initial PCA control register CL = 0; /Reset PCA base timer CH = 0; CMOD = 0x02; /Set PCA timer clock source as Fosc/2 CCAP0H = CCAP0L = 0x80; /PWM0 port output 50% duty cycle square wave CCAPM0 = 0x42; /PCA module-0 work in

30、 8-bit PWM mode and no PCA interrupt CCAP1H = CCAP1L = 0xff; /PWM1 port output 0% duty cycle square wave PCAPWM1 = 0x03; CCAPM1 = 0x42; /PCA module-1 work in 8-bit PWM mode and no PCA interrupt CR = 1; /PCA timer start run while (1);五、實(shí)驗(yàn)心得本次實(shí)驗(yàn)中我學(xué)會(huì)用軟件來延時(shí)實(shí)現(xiàn)PWM的輸出，從而實(shí)現(xiàn)對電機(jī)的控制。實(shí)驗(yàn)四 基于ARM控制的博創(chuàng)平臺(tái)輪式機(jī)器人循跡蔽障功能

31、 實(shí)驗(yàn)?zāi)康牧私釴orthStar平臺(tái)，并熟練使用此軟件完成小車的各種活動(dòng)了解RobotServoTerminal機(jī)器人舵機(jī)調(diào)試系統(tǒng)并掌握使用了解并且熟悉灰度傳感器循跡原理實(shí)驗(yàn)材料ARM控制器 灰度傳感器 紅外探測器 舵機(jī)電機(jī)等實(shí)驗(yàn)內(nèi)容小車硬件的組裝 蔽障功能的實(shí)現(xiàn)循跡功能的實(shí)現(xiàn)循跡功能的實(shí)現(xiàn)NorthStar循跡程序#include Apps/SystemTask.huint8 SERVO_MAPPING4 = 1,2,3,4;int main() int lgray = 0; int rgray = 0; MFInit(); MFInitServoMapping(&SERVO_MAPPING

32、0,4); MFSetPortDirect(0x00000FF8); MFSetServoMode(1,1); MFSetServoMode(2,1); MFSetServoMode(3,1); MFSetServoMode(4,1); while (1) lgray = MFGetAD(0); rgray = MFGetAD(1); /右偏 if (lgray=350) /左轉(zhuǎn) MFSetServoRotaSpd(1,-512); MFSetServoRotaSpd(2,-512); MFSetServoRotaSpd(3,-512); MFSetServoRotaSpd(4,-512);

33、MFServoAction(); DelayMS(400); else /左偏 if (lgray=460)&(rgray=460)&(rgray=350) MFSetServoRotaSpd(1,-512); MFSetServoRotaSpd(2,512); MFSetServoRotaSpd(3,-512); MFSetServoRotaSpd(4,512); MFServoAction(); DelayMS(400); else MFSetServoRotaSpd(1,0); MFSetServoRotaSpd(2,0); MFSetServoRotaSpd(3,0); MFSetSe

34、rvoRotaSpd(4,0); MFServoAction(); DelayMS(100); 蔽障功能的實(shí)現(xiàn)程序 #include Apps/SystemTask.huint8 SERVO_MAPPING5 = 1,2,3,4,5;int main() int io0 = 0; int io1 = 0; MFInit(); MFInitServoMapping(&SERVO_MAPPING0,5); MFSetPortDirect(0x00000FFC); MFSetServoMode(1,1); MFSetServoMode(2,1); MFSetServoMode(3,1); MFSet

35、ServoMode(4,1); MFSetServoMode(5,0); while (1) io0 = MFGetDigiInput(0); io1 = MFGetDigiInput(1); if (io0=1)&(io1=1) MFSetServoRotaSpd(1,1023); MFSetServoRotaSpd(2,-1023); MFSetServoRotaSpd(3,1023); MFSetServoRotaSpd(4,-1023); MFSetServoPos(5,512,512); MFServoAction(); DelayMS(500); else if (io0=0) /

36、后退 MFSetServoRotaSpd(1,-512); MFSetServoRotaSpd(2,512); MFSetServoRotaSpd(3,-512); MFSetServoRotaSpd(4,512); MFSetServoPos(5,512,512); MFServoAction(); DelayMS(1000); /右轉(zhuǎn) MFSetServoRotaSpd(1,512); MFSetServoRotaSpd(2,512); MFSetServoRotaSpd(3,512); MFSetServoRotaSpd(4,512); MFSetServoPos(5,512,512);

37、 MFServoAction(); DelayMS(2000); else /后退 MFSetServoRotaSpd(1,-512); MFSetServoRotaSpd(2,512); MFSetServoRotaSpd(3,-512); MFSetServoRotaSpd(4,512); MFSetServoPos(5,512,512); MFServoAction(); DelayMS(1000); /左轉(zhuǎn) MFSetServoRotaSpd(1,-512); MFSetServoRotaSpd(2,-512); MFSetServoRotaSpd(3,-512); MFSetServ

38、oRotaSpd(4,-512); MFSetServoPos(5,512,512); MFServoAction(); DelayMS(2000); 實(shí)驗(yàn)中遇到的問題以及解決方案1、NorthStar編程完成后下載時(shí)遇到的問題解決方案及拓展步驟（1）打開NorthStar軟件點(diǎn)擊幫助 （3）點(diǎn)擊幫助主題 （4）點(diǎn)開附錄以及里邊的常見問題及解決將出現(xiàn)一些列常見問題 （5）點(diǎn)擊遇到的問題，按照操作步驟即可解決環(huán)境對灰度傳感器影響較大，賽道多次取點(diǎn)進(jìn)行傳感器灰度值測量，之后修改程序內(nèi)AD值條件。 （1）用NorthStar打開循跡的程序 （2）打開工具菜單下的查詢傳感器出現(xiàn)傳感器頁面，調(diào)整好下載模式以及端口的設(shè)置，點(diǎn)擊啟動(dòng)服務(wù) （4）完成之后調(diào)整好查詢數(shù)據(jù)模式電機(jī)查詢AD，會(huì)在相應(yīng)AD口內(nèi)看到數(shù)據(jù)的變化。（5）測完后取黑線與地面值的中間值調(diào)整if條件。實(shí)驗(yàn)拓展將紅外蔽障功能，以及灰度傳感器巡線功能同時(shí)裝在小車上，通過一個(gè)自制紅外開關(guān)來控制小車的程序選擇。程序#include Apps/SystemTask.huint8 SERVO_MAPPI