diff --git a/Docs/霍尔编码器原理.pdf b/Docs/霍尔编码器原理.pdf new file mode 100644 index 0000000..028913b --- /dev/null +++ b/Docs/霍尔编码器原理.pdf @@ -0,0 +1,70 @@ +测2.4速.3原⻓理话短说 传感器及编码器的 + +霍尔传感器是电机最常⽤的定位和测速装置.今天我们就来简单解释⼀下,霍尔传感器和 +编码器的测速原理. + +⼀ 基本原理 + +对于1个两极性的径向磁环, 当它的附近有1个霍尔传感器时,磁环转⼀圈可以输出1个脉 +冲. + +那么假设在1s时间内,我收到1个脉冲,那么转速就是1/s,也就是60RPM.RPM指的是每 +分钟的圈数量. + +2.4.3 ⻓话短说 传感器及编码器的测速原理 1 + 对于1个2极性径向磁环, 当它的附近有2个霍尔传感器时,磁环转⼀圈,每个传感器可以 +输出1个脉冲.那么假设在1s时间内,收到传感器A发出的1个脉冲,那么电机的转速就是 +1/s/1=(2*60/2)/M =60RPM.传感器B也会发⼀个脉冲,但是A和B的发出的脉冲会有⼀个 +90°的相位差. +那为什么要⽤2个霍尔传感器呢?有⼀个好处,就是可以测量出⽅向.是A先输出脉冲,还 +是B先输出脉冲.就代表着电机是顺时针旋转(转转),还是逆时针旋转. + +2.4.3 ⻓话短说 传感器及编码器的测速原理 2 + 对于1个22极性径向磁环, 当它的附近有2个霍尔传感器时,磁环转⼀圈,每个传感器可以 +输出11个脉冲.那么假设在1s时间内,我收到11个脉冲,那么转速就是11/s/11= + +(11*60/11)/M=60RPM. + +以上说的只是单独读取脉冲的个数,,我们可以⽤定时器的输⼊捕获引脚或者I/O的外部 +中断数这个脉冲的个数. + +2.4.3 ⻓话短说 传感器及编码器的测速原理 3 + stm32的定时器可以设置成编码器模式,需要明⽩三点: +1.⾸先定时器在编码器模式下,它测量的已经不是脉冲的个数,⽽是边沿的个数.[如图] +2.⽽且因为A和B的信号是有相位差,编码器可以同时记录AB两个传感器产⽣的边沿数 +量. +3.定时器设定为编码器模式时,其CNT直接⽤于记录由AB传感器输⼊的边沿个数,直接 +读取CNT的值,就是边沿的个数.正转时CNT向上计数,反转时,CNT向下计数. + +2.4.3 ⻓话短说 传感器及编码器的测速原理 4 + 这样的话如果电机转⼀圈,定时器的CNT就可以计数44个.正转⼀圈+44,反转⼀圈-44. + +样例程序和样板电路原理图及PCB⽂件在视频简介的链接⾥.2元rmb,谢谢⽀持. + +⼆ 编程实践 +配置顺序: + +(1)使⽤定时器2配置成编码器模式,配置如下. + +[简单讲解] + +(2)使⽤定时器3定⼀个1ms的定时中断. + +每次读取TIMER2的CNT数值,存放在变量encoder_val内.然后清零CNT.这样读出来的 +就是电机速度了,注意此时单位是N/ms + +然后要转化为标准的转速RPM.计算电机转速motor_speed. + +但是⼀般⼩⻋电机是有⻮轮箱的 我们这 motor_speed=encoder_val*1000*60/44 RPM., +个⻮轮箱的⻮⽐是19,也就是电机转19圈,⻮轮箱转1圈所以电机真正输出的转速是: + +motor_speed=encoder_val*1000*60/44/19 RPM. + +三 实验任务: + +(1) 观察编码器⼀圈是否是计数+-44 . +(2)如何 测量转速 清零就可以了 +如何 *(3) 记录反向转速 负数 + +2.4.3 ⻓话短说 传感器及编码器的测速原理 5 + diff --git a/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvguix.ASUS b/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvguix.ASUS new file mode 100644 index 0000000..271a436 --- /dev/null +++ b/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvguix.ASUS @@ -0,0 +1,1771 @@ + + + + -6.1 + +
### uVision Project, (C) Keil Software
+ + + + + + 38003 + Registers + 115 88 + + + 346 + Code Coverage + 877 160 + + + 204 + Performance Analyzer + 1037 + + + + + + 1506 + Symbols + + 71 71 71 + + + 1936 + Watch 1 + + 71 71 71 + + + 1937 + Watch 2 + + 71 71 71 + + + 1935 + Call Stack + Locals + + 71 71 71 + + + 2506 + Trace Data + + 75 135 130 95 70 230 200 150 + + + + + + + + 1 + 1 + 0 + 0 + -1 + + + + + + + 44 + 2 + 3 + + -1 + -1 + + + -1 + -1 + + + 156 + 156 + 1436 + 817 + + + + 0 + + 430 + 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000002000000000000000100000069443A5C48617264776172652050726F6A6563745C526F626F7448617264776172652D55455354435C48617264776172655C4669726D776172655C4765656B526F626F7454696E795F4669726D776172652076312E305C48415244574152455C4D4F544F5C6361722E6300000000056361722E6300000000FFDC7800FFFFFFFF65443A5C48617264776172652050726F6A6563745C526F626F7448617264776172652D55455354435C48617264776172655C4669726D776172655C4765656B526F626F7454696E795F4669726D776172652076312E305C4452565C6273705F74696D65722E63000000000B6273705F74696D65722E6300000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000D900000066000000AB06000005030000 + + + + 0 + Build + + -1 + -1 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + D90000004F000000F0040000CB000000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1005 + 1005 + 1 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0300000066000000D2000000D5020000 + + + 16 + 560000006D0000002B01000020010000 + + + + 109 + 109 + 1 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0300000066000000D2000000D5020000 + + + 16 + 560000006D000000520100005F020000 + + + + 1465 + 1465 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 00000000DF010000F00400005B020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1466 + 1466 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1467 + 1467 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1468 + 1468 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1506 + 1506 + 0 + 0 + 0 + 0 + 32767 + 0 + 16384 + 0 + + 16 + 1E04000066000000ED040000E9000000 + + + 16 + 560000006D0000002B01000020010000 + + + + 1913 + 1913 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + D900000063000000F0040000CB000000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1935 + 1935 + 0 + 0 + 0 + 0 + 32767 + 0 + 32768 + 0 + + 16 + 03000000E2010000ED04000042020000 + + + 16 + 560000006D0000002B01000020010000 + + + + 1936 + 1936 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D0000002B01000020010000 + + + + 1937 + 1937 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D0000002B01000020010000 + + + + 1939 + 1939 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1940 + 1940 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1941 + 1941 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 1942 + 1942 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 195 + 195 + 1 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0300000066000000D2000000D5020000 + + + 16 + 560000006D000000520100005F020000 + + + + 196 + 196 + 1 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0300000066000000D2000000D5020000 + + + 16 + 560000006D000000520100005F020000 + + + + 197 + 197 + 1 + 0 + 0 + 0 + 32767 + 0 + 32768 + 0 + + 16 + 0000000006030000AB0600006E030000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 198 + 198 + 0 + 0 + 0 + 0 + 32767 + 0 + 32768 + 0 + + 16 + 00000000CB010000F00400005B020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 199 + 199 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0300000009030000ED04000055030000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 203 + 203 + 0 + 0 + 0 + 0 + 32767 + 0 + 8192 + 0 + + 16 + D900000063000000F0040000CB000000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 204 + 204 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + DC00000066000000ED040000B2000000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 221 + 221 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 00000000000000000000000000000000 + + + 16 + 0A0000000A0000006E0000006E000000 + + + + 2506 + 2506 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1B04000063000000F0040000DB010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 2507 + 2507 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 00000000DF010000F004000047020000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 343 + 343 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + DC00000066000000ED040000B2000000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 346 + 346 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + DC00000066000000ED040000B2000000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 35824 + 35824 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + DC00000066000000ED040000B2000000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 35885 + 35885 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35886 + 35886 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35887 + 35887 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35888 + 35888 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35889 + 35889 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35890 + 35890 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35891 + 35891 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35892 + 35892 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35893 + 35893 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35894 + 35894 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35895 + 35895 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35896 + 35896 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35897 + 35897 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35898 + 35898 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35899 + 35899 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35900 + 35900 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35901 + 35901 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35902 + 35902 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35903 + 35903 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35904 + 35904 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 35905 + 35905 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 38003 + 38003 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0300000066000000D200000042020000 + + + 16 + 560000006D000000520100005F020000 + + + + 38007 + 38007 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0000000006030000F00400006E030000 + + + 16 + 560000006D000000CE020000E9000000 + + + + 436 + 436 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 0300000009030000ED04000055030000 + + + 16 + 560000006D000000520100005F020000 + + + + 437 + 437 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D0000002B01000020010000 + + + + 440 + 440 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 03000000E2010000ED0400002E020000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50000 + 50000 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50001 + 50001 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50002 + 50002 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50003 + 50003 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50004 + 50004 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50005 + 50005 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50006 + 50006 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50007 + 50007 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50008 + 50008 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50009 + 50009 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50010 + 50010 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50011 + 50011 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50012 + 50012 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50013 + 50013 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50014 + 50014 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50015 + 50015 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50016 + 50016 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50017 + 50017 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50018 + 50018 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 50019 + 50019 + 0 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 1E04000066000000ED04000042010000 + + + 16 + 560000006D0000002B01000020010000 + + + + 59392 + 59392 + 1 + 0 + 0 + 0 + 32767 + 0 + 8192 + 0 + + 16 + 0000000000000000B70300001C000000 + + + 16 + 0A0000000A0000006E0000006E000000 + + + + 59393 + 0 + 1 + 0 + 0 + 0 + 32767 + 0 + 4096 + 0 + + 16 + 000000006E030000AB06000081030000 + + + 16 + 0A0000000A0000006E0000006E000000 + + + + 59399 + 59399 + 1 + 0 + 0 + 0 + 32767 + 0 + 8192 + 1 + + 16 + 000000001C000000DA01000038000000 + + + 16 + 0A0000000A0000006E0000006E000000 + + + + 59400 + 59400 + 0 + 0 + 0 + 0 + 32767 + 0 + 8192 + 2 + + 16 + 00000000380000006F02000054000000 + + + 16 + 0A0000000A0000006E0000006E000000 + + + + 3119 + 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 + + + 59392 + File + + 2002 + 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 + + + 1423 + 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 + + + 1423 + 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 + + + + 59399 + Build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ebug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car.c + 30 + 1 + 22 + 1 + + 0 + + + ..\DRV\bsp_timer.c + 0 + 154 + 1 + 1 + + 0 + + + + + diff --git a/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvoptx b/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvoptx index e491c8d..e8588f7 100644 --- a/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvoptx +++ b/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvoptx @@ -82,17 +82,17 @@ 0 Base Board Schematics (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf 1 Display Board Schematics (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf 2 User Manual (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm 3 diff --git a/Hardware/UPbot-Tools/__pycache__/dataholder.cpython-38.pyc b/Hardware/UPbot-Tools/__pycache__/dataholder.cpython-38.pyc new file mode 100644 index 0000000..3e5f581 Binary files /dev/null and b/Hardware/UPbot-Tools/__pycache__/dataholder.cpython-38.pyc differ diff --git a/Hardware/UPbot-Tools/__pycache__/params.cpython-38.pyc b/Hardware/UPbot-Tools/__pycache__/params.cpython-38.pyc new file mode 100644 index 0000000..7c1d986 Binary files /dev/null and b/Hardware/UPbot-Tools/__pycache__/params.cpython-38.pyc differ diff --git a/Hardware/UPbot-Tools/__pycache__/pb.cpython-38.pyc b/Hardware/UPbot-Tools/__pycache__/pb.cpython-38.pyc new file mode 100644 index 0000000..21a3404 Binary files /dev/null and b/Hardware/UPbot-Tools/__pycache__/pb.cpython-38.pyc differ diff --git a/Hardware/UPbot-Tools/__pycache__/transport.cpython-38.pyc b/Hardware/UPbot-Tools/__pycache__/transport.cpython-38.pyc new file mode 100644 index 0000000..46cab37 Binary files /dev/null and b/Hardware/UPbot-Tools/__pycache__/transport.cpython-38.pyc differ diff --git a/Hardware/UPbot-Tools/app.py b/Hardware/UPbot-Tools/app.py index 2e0aaac..3d24691 100644 --- a/Hardware/UPbot-Tools/app.py +++ b/Hardware/UPbot-Tools/app.py @@ -14,7 +14,7 @@ from PyQt5.QtCore import QObject,pyqtSignal import pb import threading -port = "COM7" +port = "COM6" pypibot.assistant.enableGlobalExcept() # log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") diff --git a/Hardware/UPbot-Tools/pb.py b/Hardware/UPbot-Tools/pb.py index d989af2..43e16a8 100644 --- a/Hardware/UPbot-Tools/pb.py +++ b/Hardware/UPbot-Tools/pb.py @@ -654,18 +654,18 @@ class Ui_pb(object): def retranslateUi(self, pb): _translate = QtCore.QCoreApplication.translate - pb.setWindowTitle(_translate("pb", "PIBOT Test Tool")) - self.label_2.setText(_translate("pb", "Model Name")) - self.label_3.setText(_translate("pb", "IMU Type")) - self.label_6.setText(_translate("pb", "MotorRatio")) + pb.setWindowTitle(_translate("pb", "UPBOT机器人配置工具")) + self.label_2.setText(_translate("pb", "机器人模型")) + self.label_3.setText(_translate("pb", "IMU型号")) + self.label_6.setText(_translate("pb", "电机减速比")) self.label_motor_ratio.setText(_translate("pb", "0")) - self.label.setText(_translate("pb", "Diameter")) + self.label.setText(_translate("pb", "轮子直径(mm)")) self.label_wheel_diameter.setText(_translate("pb", "0")) - self.label_4.setText(_translate("pb", "Encoder")) + self.label_4.setText(_translate("pb", "编码器分辨率")) self.label_encoder_res.setText(_translate("pb", "0")) - self.label_5.setText(_translate("pb", "WheelTrack")) + self.label_5.setText(_translate("pb", "轮距(mm)")) self.label_wheel_track.setText(_translate("pb", "0")) - self.groupBox.setTitle(_translate("pb", "Reverse Direction Flag")) + self.groupBox.setTitle(_translate("pb", "翻转方向标志")) self.checkBox_motor1.setText(_translate("pb", "Motor1 ")) self.checkBox_motor2.setText(_translate("pb", "Motor2")) self.checkBox_motor3.setText(_translate("pb", "Motor3")) @@ -683,22 +683,22 @@ class Ui_pb(object): self.label_kp.setText(_translate("pb", "0")) self.label_18.setText(_translate("pb", "KO")) self.label_ko.setText(_translate("pb", "0")) - self.label_19.setText(_translate("pb", "Interval")) + self.label_19.setText(_translate("pb", "间隔(ms)")) self.label_pid_interval.setText(_translate("pb", "0")) - self.groupBox_2.setTitle(_translate("pb", "Speed Limit")) - self.label_22.setText(_translate("pb", "VY")) + self.groupBox_2.setTitle(_translate("pb", "速度限制")) + self.label_22.setText(_translate("pb", "VY(cm/s)")) self.label_vy_max.setText(_translate("pb", "0")) - self.label_21.setText(_translate("pb", "VX")) + self.label_21.setText(_translate("pb", "VX(cm/s)")) self.label_vx_max.setText(_translate("pb", "0")) - self.label_23.setText(_translate("pb", "VA")) + self.label_23.setText(_translate("pb", "VAZ(0.01rad/s)")) self.label_va_max.setText(_translate("pb", "0")) - self.label_20.setText(_translate("pb", "CMD Time")) + self.label_20.setText(_translate("pb", "CMD Time(ms)")) self.label_cmd_lasttime.setText(_translate("pb", "0")) self.pushButton_load.setText(_translate("pb", "Load")) - self.pushButton_set.setText(_translate("pb", "Set")) - self.pushButton_read.setText(_translate("pb", "Read")) + self.pushButton_set.setText(_translate("pb", "设置")) + self.pushButton_read.setText(_translate("pb", "读取")) self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab_3), _translate("pb", "Tab 1")) - self.groupBox_4.setTitle(_translate("pb", "Motor")) + self.groupBox_4.setTitle(_translate("pb", "电机设置")) self.label_7.setText(_translate("pb", "Motor1")) self.label_set_pwm1.setText(_translate("pb", "0")) self.label_10.setText(_translate("pb", "Encoder Feedback")) @@ -733,7 +733,7 @@ class Ui_pb(object): self.label_31.setText(_translate("pb", "VA")) self.pushButton_start_2.setText(_translate("pb", "start")) self.pushButton_stop_2.setText(_translate("pb", "stop")) - self.groupBox_5.setTitle(_translate("pb", "IMU")) + self.groupBox_5.setTitle(_translate("pb", "IMU实时数据")) self.label_28.setText(_translate("pb", "MAGN")) self.label_magn_y.setText(_translate("pb", "0.000")) self.label_26.setText(_translate("pb", "GYRO")) diff --git a/Hardware/UPbot-Tools/pypibot/__pycache__/__init__.cpython-38.pyc b/Hardware/UPbot-Tools/pypibot/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..e1f067e Binary files /dev/null and b/Hardware/UPbot-Tools/pypibot/__pycache__/__init__.cpython-38.pyc differ diff --git a/Hardware/UPbot-Tools/pypibot/__pycache__/assistant.cpython-38.pyc b/Hardware/UPbot-Tools/pypibot/__pycache__/assistant.cpython-38.pyc new file mode 100644 index 0000000..f6e8cae Binary files /dev/null and b/Hardware/UPbot-Tools/pypibot/__pycache__/assistant.cpython-38.pyc differ diff --git a/Hardware/UPbot-Tools/pypibot/__pycache__/err.cpython-38.pyc b/Hardware/UPbot-Tools/pypibot/__pycache__/err.cpython-38.pyc new file mode 100644 index 0000000..dde1eff Binary files /dev/null and b/Hardware/UPbot-Tools/pypibot/__pycache__/err.cpython-38.pyc differ diff --git a/Hardware/UPbot-Tools/pypibot/__pycache__/log.cpython-38.pyc b/Hardware/UPbot-Tools/pypibot/__pycache__/log.cpython-38.pyc new file mode 100644 index 0000000..b427738 Binary files /dev/null and b/Hardware/UPbot-Tools/pypibot/__pycache__/log.cpython-38.pyc differ diff --git a/Hardware/银星机器人底盘/README.md b/Hardware/银星机器人底盘/README.md new file mode 100644 index 0000000..601c025 --- /dev/null +++ b/Hardware/银星机器人底盘/README.md @@ -0,0 +1,70 @@ +#### 1.银星机器人参数 + +##### 1.1 基本尺寸参数 + +​ 银星机器人有两个大齿轮，分别在电机和轮子上，经过尺寸的测量发现两个齿轮大小一样，应该是`1:1`的关系。 + +| 类别 | 参数 | 数值 | +| -------------- | ------- | -------------- | +| 轮子直径 | `mm` | `240` | +| 轮距 | `mm` | `420` | +| 编码器分辨率 | - | 未知 | +| 电机减速比 | - | `1:90` | +| 减速箱默认转速 | `RPM` | 54 | +| 电机默认转速 | `r/min` | 4200 | +| 电机默认方向 | `CCW` | 逆时针方向旋转 | +| 额定电压 | 伏特 | 24 | +| 额定电流 | 安培 | 1.6 | +| 额定功率 | 瓦特 | 22 | + +##### 1.2 接线方式 + +​ 在`Pibot`开发板定义中，对于二轮差分模型。`Motor1`和`Motor2`分别对应的是左轮和右轮，关系如下表所示： + +| 项目 | 类别 | `Pibot`端口 \ `Gebot`端口 | 说明 | +| -------- | ------------------- | --------------------------- | ---------- | +| `MOTOR1` | 左轮 | `U5` \ `PL(Port Left)` | 连接端口 | +| `MOTOR2` | 右轮 | `U4` \ `PR(Port Right)` | 连接端口 | +| `LEN` | 左轮`PWM`（橙色线） | `PA3` | 速度控IO | +| `LP` | 左轮方向 (绿色线) | `PB13` | 方向控制IO | +| `REN` | 右轮`PWM`（灰色线） | `PA2` | 速度控IO | +| `RP` | 右轮方向 (紫色线) | `PB14` | 方向控制IO | + +#### 1.3 默认方向 + +​ `Pibot`在运动学解算的时候，是按照每个轮子单独考虑的。默认情况下，轮子轴的方向指向左侧的`y`轴，轮子的前进方向前方的`x`轴方向。所以按照运动学解算，小车在前进的时候，左轮是需要“反向”旋转的。 + +​ 为了更好理解，我们假设电机上面有标注默认的正负号，假设电机默认是顺时针旋转(轴心朝前)。当我们把电机安装在左轮的时候，给默认的电压方向，那么左轮是倒退的，所以我们需要给"负值"的`PWM`，即是让轮子反方向旋转。当然，`PWM`本身是一个非负的数值，负值表示其方向作用。 + +```C +// 如果PWM为正值 +if (pwm_value > 5) { + // 控制电机运动方向 + GPIO_SetBits(GPIOB, GPIO_Pin_13); + // 设置电机速度 + PB_Set_PWM(TIM2, 4, (uint16_t)pwm_value); +// 如果PWM为负值 +}else if (pwm_value < -5) { + // 控制电机运动方向 + GPIO_ResetBits(GPIOB, GPIO_Pin_13); + // 设置电机速度 + PB_Set_PWM(TIM2, 4, (uint16_t)-pwm_value); +} +``` + +| 类别 | 方向 | 数值 | 说明 | +| -------- | -------- | ---- | ---------------------------------------- | +| 左电机 | 小车前进 | 负值 | 小车在给前进命令时`PWM`实际是负值。 | +| 左编码器 | 小车前进 | 负值 | 小车给前进命令时，小车编码器总值负增长。 | +| 右电机 | 小车前进 | 正值 | 小车在给前进命令时`PWM`实际是正值。 | +| 右编码器 | 小车前进 | 正值 | 小车给前进命令时，小车编码器总值正增长。 | + +##### 1.4 编码器到速度的换算 + +​ 目前银星机器人采用的是霍尔编码器，但是其磁环的参数是未知的。常见的磁环的有22个极性。那么电机转动一圈下来就会产生44个脉冲计数。霍尔编码器原理详情见《霍尔编码器原理》。 + +```c +// 运动距离 = (编码器数值 / 编码器一圈脉冲计数) * 减速比 * 轮子直径 / 2 * PI +dis = (encoder_num / ENCODER_RATIO) * reduction ratio * wheel_diameter / 2 * PI; +``` +