Ukuba unomdla malunga neerobhothi okanye uzinikele kwiiprojekthi ezizenzekelayo, ngokuqinisekileyo uzifumene ngexesha elithile kunye nesidingo sokulawula iimotor ngokufanelekileyo. Kulapho ke I-DDSM Driver HAT (B), ibhodi ekhethekileyo ekulawuleni i-hub motors njenge DDSM400. Esi sixhobo sizuze udumo oluqinileyo ngenxa yalo ukuguquguquka y izakhono ezizodwa.
Kweli nqaku siza kuphonononga zonke iinkcukacha ngalo mqhubi, ukusuka kwi Ukucaciswa kobugcisa kwizicelo zayo ezisebenzayo. Siza kuphinda sihlolisise indlela onokuyisebenzisa ngayo abalawuli abancinci njenge ESP32 kunye neebhodi ezidumileyo ezifana neRaspberry Pi, ngaphandle kokulibala ukuhambelana ngolawulo lweengcingo kunye nolungenazingcingo. Zilungiselele ukufumanisa ukuba kutheni i-DDSM Driver HAT (B) kunye ne-DDSM400 motor zifanelekile kwiiprojekthi zerobhothi ezichanekileyo.
Iimpawu eziphambili zeDDSM Driver HAT (B)
El I-DDSM Driver HAT (B) ngumlawuli ohlangeneyo oyilelwe ngokukodwa ukusebenza ngeenjini ezifana neDDSM400. Ibhodi ixhotyiswe nge-microcontroller ESP32, enika iinketho zazo zombini ulawulo lwecingo nge-USB okanye i-UART njenge Ulawulo olungenantambo nge-WiFi ngesicelo sewebhu esicacileyo.
- Ixhasa ukuya kuthi ga 6 DDSM400 iinjini ngaxeshanye.
- Ibandakanya isidibanisi se-XT60 se umbane (9V ~ 28V).
- I-interface yobuhlobo kunye neebhodi ezifana ne-Raspberry Pi 5 okanye i-4B, iququzelela unxibelelwano nge-GPIO UART.
- Iyahambelana ne ulawulo kude usebenzisa i-ESP-NGOKU kunye nemiyalelo kwifomathi ye-JSON.
Ezi nkcukacha ziyenza ibe sisixhobo ubhetyebhetye kubo bobabini abasebenzisi abaqalayo kunye abaphuhlisi abaphambili abanqwenela ukwenza ngokwezifiso ukuziphatha kweenjini zabo.
DDSM400 iinkcukacha zobugcisa
El Injini yeDDSM400 ngumzekelo oyilelwe ukunika umsebenzi ogqwesileyo kwizicelo ezifunayo kuchaneka y ulawulo. Ibalasele kuyilo lwayo usulelo oluthe ngqo (Ukuqhutywa ngokuthe ngqo), ukuphelisa imfuno yabanciphisi kunye nokubonelela a ngempumelelo kufutshane ne-100%.
- Isantya esinokulungiswa: Isebenza ukusuka kwi-100 RPM (i-torque elinganisiweyo) ukuya kwi-400 RPM (akukho mthwalo).
- IP54 ukhuseleko: Eli nqanaba lokhuseleko lenza ukuba lixhathise uthuli kunye nokutshiza.
- Ukudityaniswa kwayo yonke into: Idibanisa i-PMSM, i-encoder kunye ne-servo kumzimba odibeneyo.
- Unxibelelwano lwe-LIN: Ivumela ukulawulwa ngaxeshanye kweenjini ezininzi kunye nokufikelela kwidatha yexesha langempela, njengesikhundla, isantya kunye nobushushu.
Ngenxa yoko, i-DDSM400 ifanelekile iirobhothi ezihambayo, izithuthi ezilawulwayo ezizimeleyo kunye nezinye iinkqubo ezifunayo kuchaneka.
Ulawulo lweentambo kunye ne-JSON
Enye yeenzuzo eziphawulekayo zeDDSM Driver HAT (B) kukukwazi ukufumana nokuthumela imiyalelo ngefomathi. JSON. Le fomati yenza lula unxibelelwano phakathi komlawuli kunye nesixhobo sokusingatha. Usebenzisa intambo ye-USB-C elula, ungasebenzisa isoftware yokulungisa iimpazamo okanye imibhalo yePython ukuya lawula iinjini zakho.
Umzekelo umyalelo we-JSON wokutshintsha i-ID ye-injini:
{"T":10011,"id":1}
Ukongeza, kuyenzeka ukuba ufumane ulwazi ngexesha lokwenyani njenge indawo yenjini, isantya o ubushushu, ukwenza inkqubo yolungiso kunye nohlengahlengiso isebenze ngakumbi.
Ulawulo olungenacingo nge-ESP32
Ukuba ukhetha ukungasebenzisi iintambo, i-ESP32 ekwibhodi ibonelela ngesisombululo ubhetyebhetye nge-WiFi. Yakuba inikwe amandla, ibhodi ibeka ngokuzenzekelayo a hotspot ifumaneka kuso nasiphi na isixhobo esiphathwayo, ithebhulethi okanye iPC.
Usetyenziso lwewebhu luvumela:
- Thumela imiyalelo ye-JSON ngqo kumlawuli.
- Jonga idatha ngexesha lokwenyani.
- Qwalasela iiparamitha njenge-ID yenjini okanye indlela yokusebenza.
Oku kuluncedo ngakumbi kwiiprojekthi ezifunayo useto olukhawulezayo ebaleni
Ukusebenza kwe-injini kunye neendlela zoqwalaselo
I-DDSM400 ixhasa iindlela ezininzi zokusebenza ezinokuhlengahlengiswa ngokweemfuno zeprojekthi:
- Vula imowudi yelophu: Ifana nolawulo lwe-PWM kwiinjini ze-DC.
- Imowudi yelophu yangoku: Lawula inqanaba langoku lohlengahlengiso oluchanekileyo.
- Imowudi yelophu yesantya: Yenzelwe ukugcina izantya ezizinzileyo.
- Imo yelophu yendawo: Ilungele iintshukumo ezichanekileyo apho a ulawulo olupheleleyo.
Ezi ndlela ziqwalaselwe ngokusebenzisa imiyalelo ye-JSON. Umzekelo, umyalelo wokuvumela injini isebenzise le fomati ilandelayo:
{"T":11002,"id":1}
Ukutshintsha phakathi kweendlela, guqula ngokulula ixabiso le "mode" ipharamitha ngaphakathi komyalelo ohambelanayo.
Ukudityaniswa kunye neRaspberry Pi
I-DDSM Driver HAT (B) yenzelwe ukudibanisa ngokulula ngeebhodi Raspberry Pi. Umlawuli unokunikwa amandla ngokuthe ngqo kumbane ofanayo kunye neRaspberry Pi, ukwenza lula ikhebula kunye nokulawula uxhulumaniso. Oku kunenzuzo ngakumbi kwiiprojekthi apho i space kunye ulungelelwano zibalulekile, njengoko kumaqonga eselula kunye iirobhothi ezincinci.
I-DDSM Driver HAT (B) kunye ne-DDSM400 motor zizixhobo ezibalulekileyo kuyo nayiphi na i-robotics okanye iprojekthi yokuzenzekelayo efuna ukuchaneka okuphezulu kunye nokuguquguquka. Ngombulelo kuyilo lwazo olutsha, inkxaso yeeprothokholi zonxibelelwano ezininzi kunye nokulula koqwalaselo, ezi zixhobo zigqama njengesisombululo esithembekileyo kuluhlu olubanzi lwezicelo. Ukuba ujonge ukukhulisa iiprojekthi zakho ezishukumayo ezilawulwayo, olu luhlu lukhetho olugqibeleleyo.