履帶式壁障小車

1、完成小的組裝，首先應(yīng)該調(diào)試舵機，舵機的調(diào)試應(yīng)用多功能調(diào)試器多功能調(diào)試器使用之前要安裝驅(qū)動程序，將多功能調(diào)試器插在電腦上，會出現(xiàn)下面界面，選擇“從列表或指定位置安裝”“瀏覽”時找到InnoStar產(chǎn)品光盤，打開“部件資料匯總”文件夾，打開“多功能調(diào)試器”文件夾就可以看到“調(diào)試器驅(qū)動程序”，點擊“下一步”點擊“下一步”“完成”，再重復(fù)一遍上面的過程，多功能調(diào)試器的驅(qū)動就完成了。下面要用調(diào)試器調(diào)試舵機，連接調(diào)試器與舵機，調(diào)試舵機時一定要加外接電源打開機器人舵機調(diào)試系統(tǒng)軟件“RobotServoTerminal” 這里要修改Com口，右鍵“我的電腦”點擊“設(shè)備管理器”查看“端口”“USB Serial

2、 Port（COM3）”說明調(diào)試器用3號端口與電腦通信現(xiàn)在可以調(diào)試第一個舵機了，修改COM口為3，“Open”，“Search”搜索到第一個舵機的ID，“Stop”調(diào)試舵機模式“Servo Mode”時給定一定的速度，即“Speed”不為零，改變位置，即“Pos”不為中位，觀察舵機是否轉(zhuǎn)動；調(diào)試電機模式“Moter Mode”時，改變“Speed”，觀察舵機是否轉(zhuǎn)動。以上兩種情況舵機都轉(zhuǎn)動說明舵機可以正常工作。調(diào)試2號舵機搜索出的狀態(tài)同1號舵機將“舵機”的ID修改為2，設(shè)置“Set”其他位置的ID都自動修改了舵機的舵機模式、電機模式調(diào)試方法同1號舵機重復(fù)以上過程，設(shè)置其他幾號舵機，設(shè)定相應(yīng)的I

3、D號、調(diào)試舵機是否正常工作。完成舵機的調(diào)試，將舵機連接到控制器，控制器上有“Bobot Servo”7個連接口，選擇哪些口都可以，傳感器屬于輸入設(shè)備，連接到控制器的I/O口上，I/O口有12個，選擇那兩個口都可以，但一定要定義好，這里選擇0口和1口。編寫程序，對于AVR型單片機，有很多編程工具，這里介紹兩種軟件，“NorthStar”和“eclipse”“NorthStar”軟件用法簡介新建項目，控制器芯片為AVR選擇“MultiFLEX2-AVR”“下一步”壁障小車有四個輪子，所以有四個舵機，ID1-4，四個舵機都選擇“電機模式”，“舵機模式”的舵機轉(zhuǎn)動角度由0- 180，“電機模式”舵機轉(zhuǎn)

4、動角度由0- 360，小車執(zhí)行前進和后退程序，整周轉(zhuǎn)，選擇“電機模式”。沒有模擬量轉(zhuǎn)數(shù)字量裝置AD通道個數(shù)為0有兩個傳感器，IO通道個數(shù)為2，Channel0和Channel1，且傳感器為輸入裝置生成以下界面兩個傳感器輸入口，定義兩個變量，變量類型int，再起一個名稱，另一個變量io1。引入一個while循環(huán)傳感器兩個數(shù)字輸入，io0如下，io1選擇通道2If語句，給兩個輸入賦予高電位的初值，即兩個傳感器都沒有檢測到障礙物，不向控制器輸入信號If條件成立，就是沒有檢測到障礙物，小車直走延時10毫秒If條件不成立，即有其中一個傳感器檢測到障礙物左側(cè)遇到障礙物條件成立，小車后退，延時10毫秒，向右

5、轉(zhuǎn)，延時10毫秒If條件不成立，即小車右側(cè)傳感器檢測到障礙，舵機后退，延時10毫秒，舵機左轉(zhuǎn)，延時10毫秒。后退左轉(zhuǎn)將各個模塊連接起來，得到壁障小車程序如下自動生成程序如下#include Apps/SystemTask.huint8 SERVO_MAPPING4 = 1,2,3,4;int main() int io0 = 0; int io1 = 0; MFInit(); MFInitServoMapping(&SERVO_MAPPING0,4); MFSetPortDirect(0x00000FFC); MFSetServoMode(1,1); MFSetServoMode(2,1);

6、MFSetServoMode(3,1); MFSetServoMode(4,1); while (1) io0 = MFGetDigiInput(0); io1 = MFGetDigiInput(1); if (io0=1)&(io1=1) MFSetServoRotaSpd(1,1000); MFSetServoRotaSpd(2,-1000); MFSetServoRotaSpd(3,1000); MFSetServoRotaSpd(4,-1000); MFServoAction(); DelayMS(10); else if (io0=0) MFSetServoRotaSpd(1,-10

7、00); MFSetServoRotaSpd(2,1000); MFSetServoRotaSpd(3,-1000); MFSetServoRotaSpd(4,1000); MFServoAction(); DelayMS(1000); MFSetServoRotaSpd(1,1000); MFSetServoRotaSpd(2,1000); MFSetServoRotaSpd(3,1000); MFSetServoRotaSpd(4,1000); MFServoAction(); DelayMS(1000); else MFSetServoRotaSpd(1,-1000); MFSetSer

8、voRotaSpd(2,1000); MFSetServoRotaSpd(3,-1000); MFSetServoRotaSpd(4,1000); MFServoAction(); DelayMS(1000); MFSetServoRotaSpd(1,-1000); MFSetServoRotaSpd(2,-1000); MFSetServoRotaSpd(3,-1000); MFSetServoRotaSpd(4,-1000); MFServoAction(); DelayMS(1000); 編譯程序編譯成功將控制器與多功能調(diào)試器連接，將程序下載到單片機中下載完成，COM口自動關(guān)閉完成小車的

9、控制程序四足追光式機器人程序如下程序代碼#include Apps/SystemTask.huint8 SERVO_MAPPING10 = 1,2,3,4,5,6,7,8,9,10;int main() int io0 = 0; int io1 = 0; int io2 = 0; int ad0 = 0; int ad1 = 0; MFInit(); MFInitServoMapping(&SERVO_MAPPING0,10); MFSetPortDirect(0x00000FFF); MFSetServoMode(1,0); MFSetServoMode(2,0); MFSetServoMo

10、de(3,0); MFSetServoMode(4,0); MFSetServoMode(5,0); MFSetServoMode(6,0); MFSetServoMode(7,0); MFSetServoMode(8,0); MFSetServoMode(9,0); MFSetServoMode(10,0); MFSetServoPos(1,512,512); MFSetServoPos(2,512,512); MFSetServoPos(3,512,512); MFSetServoPos(4,512,512); MFSetServoPos(5,512,512); MFSetServoPos

11、(6,512,512); MFSetServoPos(7,512,512); MFSetServoPos(8,512,512); MFSetServoPos(9,512,512); MFSetServoPos(10,512,512); MFServoAction(); DelayMS(1000); while (1) ad0 = MFGetAD(0); ad1 = MFGetAD(1); if (ad0 300) if (ad1 300) if (ad0 - ad1) 80) MFDigiOutput(0,1); MFDigiOutput(1,0); MFDigiOutput(2,1); De

12、layMS(100); /左轉(zhuǎn) MFSetServoPos(1,540,512); MFSetServoPos(2,195,512); MFSetServoPos(3,749,512); MFSetServoPos(4,196,512); MFSetServoPos(5,459,512); MFSetServoPos(6,190,512); MFSetServoPos(7,375,512); MFSetServoPos(8,189,1023); MFSetServoPos(9,512,512); MFSetServoPos(10,512,512); MFServoAction(); Delay

13、MS(300); MFSetServoPos(1,640,302); MFSetServoPos(2,195,300); MFSetServoPos(3,449,908); MFSetServoPos(4,512,956); MFSetServoPos(5,559,302); MFSetServoPos(6,190,300); MFSetServoPos(7,475,302); MFSetServoPos(8,189,300); MFSetServoPos(9,512,300); MFSetServoPos(10,512,300); MFServoAction(); DelayMS(300);

14、 MFSetServoPos(1,640,300); MFSetServoPos(3,449,300); MFSetServoPos(4,196,956); MFSetServoPos(5,559,300); MFSetServoPos(7,475,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,340,908); MFSetServoPos(2,512,960); MFSetServoPos(3,549,302); MFSetServoPos(4,196,300); MFSetServoPos(7,675,605); MFServoA

15、ction(); DelayMS(300); MFSetServoPos(1,340,300); MFSetServoPos(2,195,960); MFSetServoPos(3,549,300); MFSetServoPos(7,675,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,440,302); MFSetServoPos(2,195,300); MFSetServoPos(3,649,302); MFSetServoPos(5,359,605); MFSetServoPos(6,512,975); MFServoActio

16、n(); DelayMS(300); MFSetServoPos(1,440,300); MFSetServoPos(3,649,300); MFSetServoPos(5,359,300); MFSetServoPos(6,190,975); MFServoAction(); DelayMS(300); MFSetServoPos(1,540,302); MFSetServoPos(3,749,302); MFSetServoPos(5,459,302); MFSetServoPos(6,190,300); MFSetServoPos(7,375,908); MFSetServoPos(8,

17、512,978); MFServoAction(); DelayMS(300); else if (ad1- ad0) 80) MFDigiOutput(0,1); MFDigiOutput(1,1); MFDigiOutput(2,0); DelayMS(100); /右轉(zhuǎn) MFSetServoPos(1,540,512); MFSetServoPos(2,195,1023); MFSetServoPos(3,749,512); MFSetServoPos(4,196,512); MFSetServoPos(5,459,512); MFSetServoPos(6,190,512); MFSe

18、tServoPos(7,375,512); MFSetServoPos(8,189,512); MFSetServoPos(9,512,512); MFSetServoPos(10,512,512); MFServoAction(); DelayMS(300); MFSetServoPos(1,440,302); MFSetServoPos(2,195,300); MFSetServoPos(3,649,302); MFSetServoPos(4,196,300); MFSetServoPos(5,359,302); MFSetServoPos(6,190,300); MFSetServoPo

19、s(7,675,908); MFSetServoPos(8,512,978); MFSetServoPos(9,512,300); MFSetServoPos(10,512,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,440,300); MFSetServoPos(3,649,300); MFSetServoPos(5,359,300); MFSetServoPos(7,675,300); MFSetServoPos(8,189,978); MFServoAction(); DelayMS(300); MFSetServoPos(1

20、,340,302); MFSetServoPos(3,549,302); MFSetServoPos(5,659,908); MFSetServoPos(6,512,975); MFSetServoPos(7,575,302); MFSetServoPos(8,189,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,340,300); MFSetServoPos(3,549,300); MFSetServoPos(5,659,300); MFSetServoPos(6,190,975); MFSetServoPos(7,575,300)

21、; MFServoAction(); DelayMS(300); MFSetServoPos(1,640,908); MFSetServoPos(2,512,960); MFSetServoPos(3,449,302); MFSetServoPos(5,559,302); MFSetServoPos(6,190,300); MFSetServoPos(7,475,302); MFServoAction(); DelayMS(300); MFSetServoPos(1,640,300); MFSetServoPos(2,195,960); MFSetServoPos(3,449,300); MF

22、SetServoPos(5,559,300); MFSetServoPos(7,475,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,540,302); MFSetServoPos(2,195,300); MFSetServoPos(3,749,908); MFSetServoPos(4,512,956); MFSetServoPos(5,459,302); MFSetServoPos(7,375,302); MFServoAction(); DelayMS(300); else MFDigiOutput(0,0); MFDigiOu

23、tput(1,1); MFDigiOutput(2,1); DelayMS(100); /前進 MFSetServoPos(1,640,512); MFSetServoPos(2,195,512); MFSetServoPos(3,349,512); MFSetServoPos(4,196,1023); MFSetServoPos(5,559,512); MFSetServoPos(6,190,512); MFSetServoPos(7,475,512); MFSetServoPos(8,189,512); MFSetServoPos(9,512,512); MFSetServoPos(10,

24、312,512); MFServoAction(); DelayMS(300); MFSetServoPos(1,340,908); MFSetServoPos(2,512,960); MFSetServoPos(3,383,300); MFSetServoPos(4,196,300); MFSetServoPos(5,459,302); MFSetServoPos(6,190,300); MFSetServoPos(7,375,302); MFSetServoPos(8,189,300); MFSetServoPos(9,512,300); MFSetServoPos(10,712,900)

25、; MFServoAction(); DelayMS(300); MFSetServoPos(1,340,300); MFSetServoPos(2,195,960); MFSetServoPos(3,449,300); MFSetServoPos(5,459,300); MFSetServoPos(7,375,300); MFSetServoPos(10,312,900); MFServoAction(); DelayMS(300); MFSetServoPos(1,440,302); MFSetServoPos(2,195,300); MFSetServoPos(3,549,302); M

26、FSetServoPos(5,359,302); MFSetServoPos(7,675,908); MFSetServoPos(8,512,978); MFSetServoPos(10,712,900); MFServoAction(); DelayMS(300); MFSetServoPos(1,440,300); MFSetServoPos(3,549,300); MFSetServoPos(5,359,300); MFSetServoPos(7,675,300); MFSetServoPos(8,189,978); MFSetServoPos(10,312,900); MFServoA

27、ction(); DelayMS(300); MFSetServoPos(1,540,302); MFSetServoPos(3,649,302); MFSetServoPos(5,659,908); MFSetServoPos(6,512,975); MFSetServoPos(7,623,300); MFSetServoPos(8,189,300); MFSetServoPos(10,712,900); MFServoAction(); DelayMS(300); MFSetServoPos(1,540,300); MFSetServoPos(3,649,300); MFSetServoP

28、os(5,659,300); MFSetServoPos(6,190,975); MFSetServoPos(7,575,300); MFSetServoPos(10,312,900); MFServoAction(); DelayMS(300); MFSetServoPos(1,640,302); MFSetServoPos(3,349,908); MFSetServoPos(4,512,956); MFSetServoPos(5,559,302); MFSetServoPos(6,190,300); MFSetServoPos(7,475,302); MFSetServoPos(10,71

29、2,900); MFServoAction(); DelayMS(300); else MFDigiOutput(0,1); MFDigiOutput(1,0); MFDigiOutput(2,1); DelayMS(100); /左轉(zhuǎn) MFSetServoPos(1,540,512); MFSetServoPos(2,195,512); MFSetServoPos(3,749,512); MFSetServoPos(4,196,512); MFSetServoPos(5,459,512); MFSetServoPos(6,190,512); MFSetServoPos(7,375,512);

30、 MFSetServoPos(8,189,1023); MFSetServoPos(9,512,512); MFSetServoPos(10,512,512); MFServoAction(); DelayMS(300); MFSetServoPos(1,640,302); MFSetServoPos(2,195,300); MFSetServoPos(3,449,908); MFSetServoPos(4,512,956); MFSetServoPos(5,559,302); MFSetServoPos(6,190,300); MFSetServoPos(7,475,302); MFSetS

31、ervoPos(8,189,300); MFSetServoPos(9,512,300); MFSetServoPos(10,512,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,640,300); MFSetServoPos(3,449,300); MFSetServoPos(4,196,956); MFSetServoPos(5,559,300); MFSetServoPos(7,475,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,340,908); MFSetServ

32、oPos(2,512,960); MFSetServoPos(3,549,302); MFSetServoPos(4,196,300); MFSetServoPos(7,675,605); MFServoAction(); DelayMS(300); MFSetServoPos(1,340,300); MFSetServoPos(2,195,960); MFSetServoPos(3,549,300); MFSetServoPos(7,675,300); MFServoAction(); DelayMS(300); MFSetServoPos(1,440,302); MFSetServoPos

33、(2,195,300); MFSetServoPos(3,649,302); MFSetServoPos(5,359,605); MFSetServoPos(6,512,975); MFServoAction(); DelayMS(300); MFSetServoPos(1,440,300); MFSetServoPos(3,649,300); MFSetServoPos(5,359,300); MFSetServoPos(6,190,975); MFServoAction(); DelayMS(300); MFSetServoPos(1,540,302); MFSetServoPos(3,749,302); MFSetServoPos(5,459,302); MFSetServoPos(6,190,300); MFSetServoPos(7,375,908); MFSetServoPos(8,512,978); MFServoAction(); DelayMS(300); else MFDigiOutput(0,1); MFDigiOutput(1,1); MFDigiOutput(2,0); DelayMS(100); /右轉(zhuǎn) MFSetServoPos(1,540,