2023.09 Robotics Team
"
Ƙayyadaddun bayanai
- Samfura: BUNKER MINI 2.0
- Shafin Mai Amfani: V2.0.1
- Ranar Saki: 2023.09
- Matsakaicin Maɗaukaki: 25KG
- Yanayin aiki: 0 ~ 40 ° C
- Mai hana ruwa da ƙima mai ƙura: IP67 (idan ba ɗaya ba
musamman)
Umarnin Amfani da samfur
Bayanin Tsaro
Kafin amfani da kayan aikin, tabbatar da karantawa da fahimtar duka
bayanin aminci da aka bayar a cikin littafin. Yi kasada
kimanta cikakken tsarin robot kuma tabbatar da ingantaccen ƙira
da shigarwa na kayan aiki.
Muhalli
Karanta littafin a hankali kafin amfani da mutum-mutumin da farko
lokaci. Zaɓi wuri mai buɗe don yin aiki mai nisa kamar yadda motar ta rasa
na'urori masu gujewa cikas ta atomatik. Yi aiki a cikin yanayi
zafin jiki na 0 ~ 40 ° C.
Dubawa
- Tabbatar cewa kowace na'ura tana da isasshen ƙarfi.
- Bincika duk wani rashin daidaituwa a cikin abin hawa.
- Tabbatar da cewa batir ɗin ramut sun cika
caje.
Aiki
- Tabbatar cewa yankin da ke kewaye a bayyane yake yayin aiki.
- Ajiye ramut a cikin kewayon gani.
- Kada ku wuce matsakaicin ƙarfin lodi na 25KG.
- Tabbatar da tsakiyar matsayin taro lokacin shigar da waje
kari. - Yi cajin na'urar da sauri lokacin da ƙaramin ƙararrawar baturi ya yi sauti.
- Yi aiki a cikin yanayin da ya dace da matakin kariya
bukatun.
FAQ
Tambaya: Menene zan yi idan na'urar tana ƙararrawa don ƙarancin baturi?
A: Da fatan za a yi cajin shi da sauri don guje wa rushewa yayin
aiki.
Tambaya: Zan iya ƙetare matsakaicin ƙarfin lodi na 25KG?
A: A'a, yana da mahimmanci kada ku wuce ƙayyadaddun ƙarfin kaya
don tabbatar da amincin aiki na na'urar.
Tambaya: Menene kewayon zafin aiki na BUNKER MINI
2.0?
A: Shawarar yanayin zafin aiki daga 0 zuwa 40
digiri Celsius.
"'
BUNKER
MINI
2.0
Mai amfani
Manual
BUNKER
MINI AgileX Robotics Team User
Manual V.2.0.1
2023.09
Takardu
sigar
No. Sigar
Kwanan wata
Edita ta
Reviewer
1 V1.0.0 2023/1/15
Bayanan kula daftarin farko
1/38
2 V2.0.0 2023/3/21
3
V2.0.1/2023/09
4
V2.0.2/2023/09
1. Gyara ros direba readme 2. Canja bunkermini uku views 3. Ƙara bayanan ramut bayanai
4. Ƙara bayanan nisan mil
5. Ƙara bayanan bayanan bms
6. Inganta shimfidar shafi
Ƙara hoto mai nunawa Gyara yadda ake amfani da fakitin ROS
Binciken daftarin aiki
Ɗaukaka hoton ramut Inganta file Tsarin Saka Sabunta Jirgin Sama
Zane mai girma da aka sabunta
Wannan babin ya ƙunshi mahimman bayanan aminci waɗanda dole ne kowane mutum ko ƙungiya ya karanta kuma su fahimce su kafin amfani da kayan aiki lokacin da aka kunna robot ɗin a karon farko. Kuna iya tuntuɓar mu a support@agilex.ai idan kuna da wasu tambayoyi game da amfani. Yana da matukar muhimmanci cewa duk umarnin taro da jagororin da ke cikin wasu surori na wannan littafin an bi su kuma aiwatar da su. Ya kamata a biya musamman hankali ga rubutu mai alaƙa da alamun gargaɗi.
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Tsaro
Bayani
Bayanin da ke cikin wannan jagorar bai ƙunshi ƙira, shigarwa da aiki na cikakken aikace-aikacen mutum-mutumi ba, kuma baya haɗa da wasu abubuwan da ke iya shafar amincin wannan cikakken tsarin. Zane da amfani da wannan cikakken tsarin yana buƙatar bin ka'idodin aminci da aka kafa a cikin ƙa'idodi da ƙayyadaddun ƙa'idodin ƙasar da aka shigar da robot. Yana da alhakin masu haɗin gwiwar BUNKERMINI da abokan ciniki na ƙarshe don tabbatar da bin ƙayyadaddun ƙayyadaddun bayanai da ingantattun dokoki da ƙa'idodi, don tabbatar da cewa babu manyan haɗari a cikin cikakkiyar aikace-aikacen robot.ample. Wannan ya haɗa amma bai iyakance ga masu zuwa ba:
Tabbatacce
kuma
Nauyi
Yi ƙididdigar haɗari na cikakken tsarin robot. Haɗa ƙarin kayan aikin aminci don sauran injina kamar yadda haɗarin ya bayyana
kima.
Tabbatar da cewa ƙira da shigar da keɓaɓɓun tsarin tsarin mutum-mutumi, gami da software da tsarin hardware, daidai ne.
Wannan mutum-mutumi ba shi da ayyuka masu dacewa da aminci na cikakken mutum-mutumi na wayar hannu, gami da amma ba'a iyakance ga haɗari ta atomatik ba, hana faɗuwa, gargaɗin tsarin ilimin halitta, da sauransu. ƙayyadaddun ƙayyadaddun bayanai da ingantattun dokoki da ƙa'idodi, don tabbatar da cewa robot ɗin da aka haɓaka ba shi da wani babban haɗari da haɗarin aminci a aikace aikace.
Tara duk takaddun a cikin fasaha file: gami da kimanta haɗarin da wannan littafin. Yi hankali da yuwuwar haɗarin aminci kafin aiki da amfani da kayan aiki.
Muhalli
Lokacin amfani da shi a karon farko, da fatan za a karanta wannan jagorar da kyau don fahimtar ainihin abubuwan da ke cikin aiki da ƙayyadaddun aiki.
Don aiki mai nisa, zaɓi wuri mai buɗewa don amfani, kuma motar kanta ba ta da na'urori masu gujewa cikas ta atomatik.
Yi amfani a cikin yanayin zafi na 0 ~ 40.
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Idan abin hawa ba shi da matakin kariyar IP na musamman na musamman, abin hawa na ruwa da ƙarfin hana ƙura shine IP67.
Dubawa
Tabbatar cewa kowace na'ura tana da isasshen iko. Tabbatar cewa babu wata matsala ta zahiri a cikin abin hawa. Bincika cewa batir ɗin ramut sun cika caji.
Aiki
Tabbatar cewa yankin da ke kewaye ya bayyana a sarari yayin aiki Ikon nesa tsakanin kewayon gani Matsakaicin ƙarfin lodi na BUNKERMI shine 25KG. Lokacin amfani da shi, tabbatar da abin da aka biya
bai wuce 25KG ba. Lokacin shigar da kari na waje akan BUNKERMINI, tabbatar da matsayin tsakiyar taro
na tsawo don tabbatar da yana tsakiyar juyawa Lokacin da na'urar ta yi ƙararrawa don ƙarancin baturi, da fatan za a yi cajin shi cikin lokaci. Da fatan za a yi amfani da na'urar a cikin yanayin da ya dace da matakan kariya bisa ga ka'idodin
zuwa matakin kariya na IP na na'urar. Don Allah kar a tura keken kai tsaye Wutar wutar lantarki ta tsawo na yanzu baya wuce 10A, kuma jimlar wutar ba ta
wuce 240W.
Baturi
matakan kariya
Batirin kayayyakin BUNKER MINI baya cika caji lokacin da ya bar masana'anta. Takamammen baturi voltage kuma ana iya nuna wutar lantarki ta hanyar voltage nuni mita a baya na BUNKER MINI chassis ko ta vol da batt a kan ramut.
Don Allah kar a yi cajin baturin bayan an yi amfani da shi. Da fatan za a yi cajin shi cikin lokaci lokacin da baturin ramut na BUNKER MINI ya yi ƙasa da 15% ko wutsiya vol.tage nuni bai kai 25V ba.
Yanayin ajiya a tsaye: Mafi kyawun zafin jiki na ajiya shine -10 ~ 40. Lokacin da ba a yi amfani da baturin ba, dole ne a yi caji a fitar da shi sau ɗaya kowane wata, sannan a adana shi a cikakken juzu'itage. Kar a adana baturin Wuri, ko zafi baturin. Kar a adana batura a matsanancin zafi.
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Cajin: Dole ne ka yi amfani da madaidaicin cajar baturin lithium don yin caji. Kada ka yi cajin baturin ƙasa 0°C. Kada a yi amfani da daidaitattun batura, kayan wuta, da caja waɗanda ba na asali ba.
Matakan kariya
domin
amfani
muhalli
Yanayin aiki na BUNKER MINI shine -10 ~ 40. Don Allah kar a yi amfani da shi a cikin yanayin da ke ƙasa da -10 ko sama da 40.
Kada a yi amfani da shi a cikin mahalli mai lalata ko iskar gas ko kusa da abubuwa masu ƙonewa.
Don Allah kar a yi amfani da shi kusa da abubuwan dumama kamar su dumama ko manyan juzu'i. BUNKER MINI shine IP67 mai hana ruwa da ƙura. Don Allah kar a yi amfani da shi a jiƙa a cikin ruwa na dogon lokaci
lokaci. Duba kuma cire tsatsa akai-akai. Ana ba da shawarar cewa tsayin yanayin aiki bai wuce 1000M Ana ba da shawarar cewa bambancin zafin rana da dare a cikin amfani
yanayi bai wuce 25 Bincika akai-akai da kula da masu tayar da hankali ba
Tsaro
Matakan kariya
Idan kuna da wasu tambayoyi game da tsarin amfani, da fatan za a bi jagorar koyarwa mai dacewa ko tuntuɓi ma'aikatan fasaha masu dacewa.
Kafin amfani da kayan aiki, kula da yanayin wurin don guje wa aiki mara kyau wanda zai iya haifar da matsalolin aminci na sirri.
A cikin yanayin gaggawa, danna maɓallin dakatar da gaggawa don kashe kayan aiki. Don Allah kar a gyara tsarin na'urar ciki ba tare da goyan bayan fasaha da izini ba. Lokacin da wani abu ba daidai ba tare da kayan aiki, da fatan za a daina amfani da shi nan da nan don guje wa
lalacewa na biyu. Lokacin da rashin daidaituwa ya faru a cikin kayan aiki, tuntuɓi ma'aikatan fasaha masu dacewa
kuma kada ku rike shi ba tare da izini ba.
ABUBUWA
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Takardu
sigar
ABUBUWA
Tsaro
Bayani
ABUBUWA
1 Gabatarwa
of
BUNKER
MINI
2.0
1.1 Jerin Samfura 1.2 Siffofin ayyuka 1.3 da ake buƙata don haɓakawa
2 The
Abubuwan asali
2.1 Bayanin musaya na lantarki 2.2 Umarnin sarrafawa mai nisa 2.3 Umurnin sarrafawa da bayanin motsi
3 Samun
An fara
3.1 Amfani da aiki 3.2 Cajin 3.3 Ci gaba
3.3.1 CAN Cable Connection 3.3.2 CAN bayanin yarjejeniya 3.3.3 BUNKER MINI 2.0 ROS Kunshin Amfani Example
4
Amfani
kuma
aiki
6/38
5
Tambaya&A
6
Samfura
Girma
6.1 Misalai na ma'auni na samfura 6.2 Misalai na manyan ma'auni na fadada fadadawa
1 Gabatarwa
of
BUNKER
MINI
2.0
BUNKER MINI 2.0 shine abin hawa chassis mai bin diddigi don aikace-aikacen masana'antu. An nuna shi tare da aiki mai sauƙi da mahimmanci, babban filin ci gaba, daidaitawa ga ci gaba da aikace-aikace a fannoni daban-daban, IP67 ƙura da hana ruwa, da kuma babban daraja, da dai sauransu Ana iya amfani da shi don ci gaba da mutum-mutumi na musamman kamar dubawa da bincike, EOD ceto, harbi na musamman, da sufuri na musamman, kuma shine mafita ga motsi na robot.
1.1 Samfura
Jerin
Sunan BUNKER MINI 2.0robot jiki
Caja baturi (AC 220V)
Fitowar jirgin sama namiji 4Pin
FS ramut (na zaɓi) USB zuwa CAN sadarwa module
1.2 Aiki
sigogi
Yawan x1 x1 x1 x1 x1
Siga Nau'in Injini ƙayyadaddun bayanai
Abubuwan L × W × H (mm)
Darajar 690 x 570 x 335
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Ƙwallon ƙafa (mm)
Tushen dabaran gaba/baya (mm)
Tsayin chassis
Waƙa nisa
Nauyin Nauyin (kg)
Nau'in Baturi
Sigar baturi
Motar tuƙin wuta
Motar tuƙi
Yanayin kiliya
tuƙi
Siffan dakatarwa
Rage raguwar motar tuƙi
Encoder na tuƙi
Fitar da rabon raguwar mota
Fitar da firikwensin motar
Siffofin ayyuka
Babban darajar IP
Matsakaicin gudun (km/h)
Mafi ƙarancin juyi radius (mm)
Matsakaicin ƙima (°)
80 100 56 Lithium baturi 30AH 2×250W DC goga motor Track iri daban-daban tuƙi -
-
-
19.7 1
Magnetic braiding 1024 IP22 1.0
Za a iya juya wuri
30°
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Sarrafa
Matsakaicin cikas ƙetarewar ƙasa (mm) Matsakaicin rayuwar baturi (h) Matsakaicin nisa (km) Lokacin caji (h)
Yanayin aiki ()
Yanayin sarrafawa
RC transmitter System interface
120mm 410 8 14KM 3
-10 ~ 40 Yanayin sarrafa umarnin sarrafawa mai nisa 2.4G / matsananciyar nisa 200M
CAN
1.3 Da ake bukata
domin
ci gaba
BUNKER MINI 2.0 sanye take da FS nesa daga masana'anta, ta hanyar da masu amfani za su iya sarrafa chassis na BUNKER MINI 2.0mobile robot don kammala motsi da ayyukan juyawa. Bayan haka, BUNKER MINI 2.0 an sanye shi da tsarin CAN, ta hanyar da masu amfani za su iya gudanar da haɓaka na biyu.
2 The
Abubuwan asali
Wannan bangare zai ba da gabatarwa ta asali ga BUNKER MINI 2.0 robot chassis ta hannu, ta yadda masu amfani da masu haɓakawa su sami ainihin fahimtar BUNKER MINI 2.0chassis.
2.1 Lantarki
dubawa
bayanin
Ana nuna ƙirar wutar lantarki ta baya a cikin Hoto 2.1, wanda Q1 shine canjin tasha na gaggawa, Q2 shine maɓallin wuta, Q3 shine hulɗar nunin wutar lantarki, Q4 shine ƙirar caji, kuma Q5 shine CAN da 24V ikon jirgin sama.
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Hoto2.1 Rear lantarki dubawa Ana nuna ma'anar sadarwa da haɗin wutar lantarki na Q5 a cikin hoto 2-2.
Fil A'a
Nau'in Pin
Aiki da Ma'anarsa
1
Ƙarfi
VCC
2
Ƙarfi
3
CAN
GND CAN_H
Jawabi
Ingantacciyar wutar lantarki, voltage kewayon 24 ~ 29V, matsakaicin halin yanzu 10A Rashin wutar lantarki CAN babban bas
10/38
4
CAN
BA_L
CAN bas low
Hoto 2.2 Ma'anar ma'anar ma'anar ma'anar ma'anar ma'anar mahaɗar jirgin sama ta baya
2.2 Nesa
sarrafawa
umarnin
Ikon nesa na Fuss kayan haɗe ne na zaɓi don samfuran BUNKER MINI. Abokan ciniki za su iya zaɓar bisa ga ainihin buƙatu. Yin amfani da na'ura mai nisa na iya sarrafa BUNKER MINI robot chassis cikin sauƙi. A cikin wannan samfurin, muna amfani da ƙirar na'urar hanzari na hannun hagu. Za a iya komawa ma'anarsa da ayyukansa zuwa Hoto 2.3. An bayyana ayyukan maɓallan kamar haka: SWA da SWD ba su kunna na ɗan lokaci ba. SWB shine maɓallin zaɓin yanayin sarrafawa. Tura shi zuwa sama don yanayin sarrafa umarni. Tura shi zuwa tsakiya don yanayin sarrafa nesa. SWC shine maɓallin yanayin hasken mota. Tura shi zuwa sama. Yanayin fitilun mota ne na yau da kullun. Buga shi zuwa tsakiya don kunna fitilu lokacin da motar ke motsawa. Buga shi zuwa ƙasa don canza fitilu zuwa yanayin kashe-kashe. S1 shine maɓallin matsi, wanda ke sarrafa BUNKER MINI don matsawa gaba da baya; S2 yana sarrafa juyawa, kuma WUTA shine maɓallin wuta. Latsa ka riƙe a lokaci guda don kunna shi.
Don Allah
bayanin kula:
SWA,
SWB,
SWC,
kuma
SWD
duka
bukata
ku
be
at
da
saman
yaushe
da
m
sarrafawa
is
juya
kan.
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Hoto 2.3 Tsarin tsari na maɓallan sarrafa nesa na FS Nesa
sarrafawa
dubawa
bayanin: Bunker: samfurin Vol: baturi voltage Mota: Matsayin chassis Batt: Kashi na wutar lantarkitage P: Park Remoter: Ramut matakin baturi Laifin Code: Kuskuren bayanin (yana wakiltar byte [5] a cikin firam 211)
12/38
2.3 Sarrafa
umarni
kuma
motsi
bayanin
Mun kafa firam ɗin daidaitawa na abin hawa na ƙasa bisa ga ma'aunin ISO 8855 kamar yadda aka nuna a hoto 2.4.
Hoto 2.4 Tsarin tsari na firam ɗin nunin jikin abin hawa Kamar yadda aka nuna a cikin 2.4, jikin BUNKER MINI 2.0 yana layi ɗaya da axis X na firam ɗin da aka kafa.
13/38
A cikin yanayin nesa, joystick S1 mai ramut yana motsawa zuwa ingantacciyar hanya ta X lokacin da aka tura gaba, kuma yana motsawa cikin mummunan yanayin X lokacin da aka tura baya. Lokacin da aka tura S1 zuwa matsakaicin ƙima, saurin motsi a cikin kyakkyawan shugabanci na X shine mafi girma, kuma lokacin da aka tura shi zuwa mafi ƙarancin ƙima, saurin motsi a cikin mummunan shugabanci na jagoran X shine mafi girma. Remote joystick S2 yana sarrafa jujjuyawar jikin abin hawa hagu da dama. Lokacin da aka tura S2 zuwa hagu, jikin abin hawa yana jujjuya daga ingantacciyar alkiblar axis X zuwa kyakkyawar alkiblar axis Y. Lokacin da aka tura S2 zuwa dama, jikin abin hawa yana jujjuya daga ingantacciyar hanya ta axis X zuwa mummunan alkibla na axis Y. Lokacin da aka tura S2 zuwa hagu zuwa matsakaicin ƙimar, saurin madaidaiciyar jujjuyawar agogon agogo shine mafi girma, kuma lokacin da aka tura shi zuwa dama zuwa matsakaicin ƙimar, saurin madaidaiciyar jujjuyawar agogo shine mafi girma. A cikin yanayin umarnin sarrafawa, ƙimar ƙimar madaidaiciyar madaidaiciyar saurin yana nufin motsawa a cikin madaidaiciyar hanya ta axis X, kuma ƙimar ƙimar madaidaiciyar madaidaiciyar tana nufin motsi a cikin mummunan shugabanci na axis X. Mahimman ƙimar saurin angular yana nufin cewa jikin abin hawa yana motsawa daga ingantacciyar hanya ta X-axis zuwa kyakkyawan shugabanci na axis Y, kuma mummunan ƙimar saurin angular yana nufin cewa jikin abin hawa yana motsawa daga ingantacciyar hanya ta axis X zuwa mummunan shugabanci na axis Y.
3 Samun
An fara
Wannan bangare ya fi gabatar da ainihin aiki da amfani da dandalin BUNKER MINI 2.0, da kuma gabatar da yadda ake gudanar da ayyukan ci gaba na biyu na jikin abin hawa ta hanyar tashar CAN ta waje da kuma yarjejeniyar bas ta CAN.
3.1 Amfani
kuma
aiki
Duba
Duba yanayin jikin abin hawa. Bincika ko akwai wata matsala ta zahiri a jikin abin hawa; idan haka ne, tuntuɓi goyon bayan tallace-tallace;
Duba halin canjin tasha gaggawa. Tabbatar da cewa maɓallin dakatarwar gaggawa ta Q1 a baya yana cikin yanayin da aka saki;
Lokacin amfani da farko, tabbatar ko Q2 (canjin wutar lantarki) a cikin sashin wutar lantarki na baya an danna; idan haka ne, don Allah a danna ka sake shi, kuma zai kasance a cikin yanayin da aka saki
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Fara
up
Latsa maɓallin wuta (Q2 a cikin wutar lantarki), a ƙarƙashin yanayi na al'ada, hasken wutar lantarki zai kasance a kunne, kuma voltmeter zai nuna baturin volt.tage kullum;
Duba baturin voltage. Idan voltage ya fi 24V, yana nuna cewa baturin voltage al'ada ce. Idan kasa da 24V, baturin ba shi da ƙarfi, da fatan za a yi cajin shi;
Ƙarfi
kashe
Danna maɓallin wuta don yanke wutar lantarki;
Gaggawa
tsaya
Danna maɓallin dakatar da gaggawa a bayan jikin BUNKER MINI 2.0;
Na asali
aiki
tsari
of
m
sarrafawa
Bayan da aka fara amfani da chassis na BUNKER MINI 2.0 robot akai-akai, kunna remote ɗin kuma zaɓi yanayin sarrafawa azaman yanayin nesa, ta yadda na'urar zata iya sarrafa motsin dandalin BUNKER MINI 2.0.
3.2 Yin caji
BUNKER MINI 2.0 kayayyakin suna sanye take da daidaitaccen caja ta tsohuwa, wanda zai iya biyan bukatun abokan ciniki. Takamammen tsarin aiki na caji shine kamar haka:
Tabbatar cewa BUNKER MINI 2.0 chassis yana cikin yanayin kashe wutar lantarki. Kafin yin caji, da fatan za a tabbatar cewa Q2 (canjin wuta) a cikin na'ura mai ba da wutar lantarki ta baya an kunna
A kashe Saka filogi na caja cikin mahallin cajin Q4 a cikin sashin kula da wutar lantarki na baya
Haɗa caja zuwa wutar lantarki kuma kunna caja don shigar da yanayin caji.
Lokacin caji ta tsohuwa, babu wani haske mai nuni akan chassis. Ko ana caji ko a'a
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ya dogara da alamar halin cajar.
3.3 Ci gaba
3.3.1
CAN
Kebul
Haɗin kai
Ana jigilar BUNKER MINI tare da abin hawa kuma yana ba da filogin jirgin sama na namiji kamar yadda aka nuna a hoto 3.1. Ma'anar wayoyi shine rawaya azaman CANH, shuɗi kamar CANL, ja azaman ƙarfin ƙarfi, kuma baki azaman korau. Lura:
In
da
halin yanzu
BUNKER
MINI
sigar,
kawai
da
wutsiya
dubawa
is
bude
ku
na waje
fadada
musayar.
The
iko
wadata
in
wannan
sigar
iya
bayar da
a
matsakaicin
halin yanzu
of
10 A.
Hoto 3.1 Tsarin tsari na filogin jirgin sama
3.3.2
CAN
yarjejeniya
bayanin
Kayayyakin BUNKER MINI suna samar da hanyar sadarwa ta CAN don haɓaka mai amfani, ta inda masu amfani zasu iya yin umarni da sarrafa jikin mota. Ma'aunin sadarwa na CAN a cikin samfuran BUNKER MINI ya ɗauki ma'aunin CAN2.0B, ƙimar baud ɗin sadarwa shine 500K, kuma tsarin saƙon ya ɗauki tsarin MOTOROLA. Ana iya sarrafa saurin madaidaiciyar motsi da saurin jujjuyawar kusurwoyi na chassis ta hanyar haɗin bas na CAN na waje; BUNKER MINI zai mayar da martani game da bayanin matsayin motsi na yanzu da bayanin matsayin BUNKER MINI chassis a ainihin lokacin. Yarjejeniyar ta haɗa da firam ɗin martani game da matsayin tsarin, firam ɗin martani mai sarrafa motsi, da firam ɗin sarrafawa. Abubuwan da ke cikin ƙa'idar shine kamar haka: Umurnin amsa matsayin tsarin ya haɗa da martanin halin halin mota na yanzu, yanayin yanayin sarrafawa, ƙarfin baturi.tage feedback da kuskure feedback. Ana nuna abun cikin ka'idar a cikin Tebur 3.1:
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Tebur 3.1 BUNKER MINI 2.0 Tsarin Ra'ayin Jiha na Chassis
Sunan umarni
Umurnin martani na tsarin tsarin
Aika kumburi Mai karɓar Node
ID
Zagayowar ms
Karbar Lokacin Karewa (ms)
Chassis mai sarrafa waya
Naúrar kula da yanke shawara
0 x211
200ms
Babu
Tsawon bayanai
0 x08
Wuri
Aiki
Nau'in Bayanai
Bayani
byte [0]
Yanayin jikin abin hawa na yanzu
ba sa hannu int8
0x00 Tsarin al'ada 0x01 Yanayin rufe gaggawa
0x02 keɓanta tsarin
byte [1]
Sarrafa yanayi
ba sa hannu int8
0x00 Yanayin jiran aiki 0x01 CAN yanayin sarrafa umarni
0x03 Yanayin sarrafawa mai nisa
byte [2] byte [3]
Babban rago takwas na baturi
voltage
Ƙananan rago takwas na baturi
voltage
unsigned int16 Ainihin voltage X10 (daidai zuwa 0.1V)
byte [4]
Ajiye
-
0 x00
byte [5]
Bayanin kuskure ba a sanya hannu ba int8
Don cikakkun bayanai, duba [Bayanin Laifi]
byte [6]
Ajiye
-
0 x00
byte [7]
Duba kirga (ƙidaya)
ba sa hannu int8
0 ~ 255 madauki ƙidaya, ƙidaya sau ɗaya duk lokacin da aka aika umarni
17/38
Tebura 3.2 Bayanin bayanin kuskure
Byte byte [5]
Bayanin bayanin kuskure
Bit
Ma'ana
bit [0]
Batirin undervoltage laifi
bit [1]
Batirin undervoltage gargadi
bit [2]
Ikon nesa
Kariyar cire haɗin gwiwa 0:
al'ada, 1: remote control
katsewa
bit [3]
Ajiye, tsoho 0
bit [4]
Laifin sadarwa 2 tuƙi (0: babu laifi, 1: kuskure)
bit [5]
Laifin sadarwa 3 tuƙi (0: babu laifi, 1: kuskure)
bit [6]
Ajiye, tsoho 0
bit [7]
Ajiye, tsoho 0
Umurnin firam ɗin sarrafa motsi ya haɗa da martanin saurin mizani na jikin abin hawa na yanzu da saurin kusurwar motsi. Ana nuna takamaiman abun ciki na ƙa'idar a cikin Tebur 3.3.
Tebur 3.3 Tsarin Sauraron Sauraron Motsi
Sunan umarni
Umurnin mayar da martani ga motsi
Aika Node Karɓan Node
ID
Zagayowar ms
Chassis mai sarrafa waya
Naúrar kula da yanke shawara
0 x221
20ms
Karbar Lokacin Karewa (ms)
Babu
18/38
Tsawon bayanai Wuri
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0 x08
Aiki
Na sama takwas ragowa daga cikin
saurin motsi The ƙananan takwas
bits na saurin motsi
Na sama takwas ragowa daga cikin
Saurin juyawa Ƙananan takwas
raguwa na saurin juyawa
Ajiye
Ajiye
Ajiye
Ajiye
Nau'in Bayanai
sanya hannu int16
sanya hannu int16
-
Bayani
Ainihin gudun X 1000 (daidai zuwa 0.001m/s)
Ainihin gudun X 100 (daidai zuwa 0.01rad/s)
0x00 0x00 0x00 0x00
Firam ɗin sarrafawa ya haɗa da buɗewar sarrafa saurin madaidaiciya, buɗewar sarrafa saurin angular da checksum. Ana nuna takamaiman abun ciki na yarjejeniya a cikin Tebur 3.4.
Tebur 3.4 Tsarin Sarrafa Umarnin Sarrafa Motsi
Sunan umarni
Aika kumburi Karɓar kumburi
Naúrar kula da yanke shawara
Kullin chassis
Umurnin sarrafawa
ID
Zagayowar ms
0 x111
20ms
Karbar Lokacin Karewa (ms)
500ms
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Tsawon bayanai Matsayi byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0 x08
Aiki
Na sama takwas ragowa na mikakke
gudu
Ƙananan rago takwas na layin layi
gudu
Na sama takwas ragowa na
saurin angular
Ƙananan rago takwas na
saurin kusurwa
Ajiye
Ajiye
Ajiye
Ajiye
Nau'in Bayanai
sanya hannu int16
Gudun tafiye-tafiye na jikin abin hawa, naúrar mm/s, kewayon ƙimar [-1300,1300]
sanya hannu int16
Juyawa mai saurin kusurwa na jikin abin hawa, naúrar 0.001rad/s, ƙima
iyaka [-2000, 2000]
-
0 x00
-
0 x00
-
0 x00
-
0 x00
Ana amfani da firam ɗin saitin yanayin don saita ƙirar sarrafawa ta tashar, kuma ana nuna takamaiman abun ciki na yarjejeniya a cikin Tebur 3.5.
Tebur 3.5 Sarrafa Yanayin Saitin Tsarin
Sunan umarni Aika kumburi Karɓar kumburi
Umurnin saitin yanayin sarrafawa
ID
Zagayowar ms
Karbar Lokacin Karewa (ms)
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Naúrar kula da yanke shawara
Tsawon bayanai
Matsayi
Kullin Chassis 0x01
Aiki
byte [0]
CAN sarrafa kunnawa
0 x421
Babu
Babu
Nau'in bayanai mara sa hannun int8
Bayani
0x00 Yanayin jiran aiki 0x01 CAN Yanayin umarni Yana shiga yanayin jiran aiki ta tsohuwa
bayan power-on
Bayanan kula[1] Bayanin yanayin sarrafawa
Lokacin da ramut don BUNKER MINI 2.0 ba a kunna ba, yanayin sarrafawa na asali shine yanayin jiran aiki, kuma kuna buƙatar canzawa zuwa yanayin umarni don aika umarnin sarrafa motsi. Idan aka kunna ramut, yana da mafi girman iko kuma yana iya toshe ikon sarrafa umarni. Lokacin da ramut ya canza zuwa yanayin umarni, har yanzu yana buƙatar aika umarnin saitin yanayin sarrafawa kafin amsa umarnin saurin.
Ana amfani da firam ɗin saitin jaha don share kurakuran tsarin, kuma takamaiman abun ciki na yarjejeniya ana nuna shi a cikin Tebur 3.6.
Tebura 3.6 Tsarin saitin Jiha
Sunan umarni
Umurnin saitin jihohi
Aika kumburi
Karɓar kumburi
ID
Zagayowar ms
Karbar Lokacin Karewa (ms)
Naúrar kula da yanke shawara
Kullin chassis
0 x441
Babu
Babu
Tsawon bayanai
0 x01
Matsayi
Aiki
Nau'in bayanai
Bayani
byte [0]
Umarnin share kuskure
d
ba sa hannu int8
0x00 Share duk kurakuran da ba su da mahimmanci 0x01 Share motor 1 kuskure 0x02 Share motor 2 kuskure
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Bayani na 3: Example data, waɗannan bayanan don amfani ne kawai na gwaji 1. Abin hawa yana tafiya gaba a cikin gudun 0.15/S
byte [0] 0x00
byte [1] 0x96
byte [2] 0x00
byte [3] 0x00
byte [4] 0x00
byte [5] 0x00
byte [6] 0x00
byte [7] 0x00
2. Motar tana juyawa a 0.2RAD/S
byte [0] 0x00
byte [1] 0x00
byte [2] 0x00
baiti [3] 0xc8
byte [4] 0x00
byte [5] 0x00
byte [6] 0x00
byte [7] 0x00
Baya ga martanin bayanan jihar chassis, bayanan bayanan chassis kuma sun haɗa da bayanan mota da bayanan firikwensin.
Tebura 3.7 Bayanin bayanin matsayi na saurin motsi na yanzu
Sunan umarni
Firam ɗin martani mai sauri direba direba
Aika kumburi Karɓar kumburi
ID
Zagayowar ms
Karbar Lokacin Karewa (ms)
Chassis mai sarrafa waya
Naúrar kula da yanke shawara
0x251~0x254
20ms
Babu
Tsawon bayanai
0 x08
Matsayi
Aiki
Nau'in bayanai
Bayani
byte [0] byte [1]
Na sama takwas ragowa na mota gudun
Ƙananan rago takwas na saurin mota
sanya hannu int16
Naúrar saurin Mota na yanzu RPM
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byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
Na sama takwas ragowa na motor halin yanzu
Ƙananan rago takwas na
motor halin yanzu
Matsayi na yanzu na
motor ne mafi girma
Matsayi na yanzu na
motor ne na biyu mafi girma
Matsayi na yanzu na
motor ne na biyu mafi ƙasƙanci
Matsayi na yanzu na
motor ne mafi ƙasƙanci
sanya hannu int16 sanya hannu int16 sanya hannu int16 sanya hannu int16 sanya hannu int16
Naúrar motar ta yanzu 0.1A
Matsayi na yanzu na sashin motar: adadin bugun jini
Tebur 3.8 Bayanin zafin jiki na mota, juzu'itage da bayanan jihar
Sunan umarni
Firam ɗin martani ga direba mara saurin sauri
Aika kumburi Karɓar kumburi
ID
Zagayowar ms
Karbar Lokacin Karewa (ms)
Chassis mai sarrafa waya
Naúrar kula da yanke shawara
0x261~0x264
20ms
Babu
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Tsawon bayanai Matsayi byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0 x08
Aiki
Na sama takwas ragowa na direba voltage
Ƙananan rago takwas na direban voltage
Na sama takwas ragowa na direban zafin jiki
Ƙananan rago takwas na zafin direba
Motar zafin jiki
Jihar direba
Ajiye
Ajiye
Nau'in bayanai da aka sanya hannu int16
sanya hannu int16 sanya hannu int8 unsigned int8
-
Table 3.9 Actuator sate
Bayani
Direba na yanzu voltagnaúrar 0.1v
raka'a 1
unit1 Dubi Tebura 3-9 don cikakkun bayanai
0x00 0x00
byte [5]
bit [0] bit [1] bit [2]
Bayanin bayanin kuskure
Ko wutar lantarki voltage yayi ƙasa da ƙasa (0: al'ada 1: yayi ƙasa sosai)
Ko motar ta wuce zafin jiki (0: al'ada 1: yawan zafin jiki)
Ko direban ya wuce na yanzu (0: al'ada 1: kan-na yanzu)
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bit [3] bit [4] bit [5] bit [6] bit [7]
Ko direban ya wuce zafin jiki (0: al'ada 1: yawan zafin jiki)
Yanayin firikwensin (0: al'ada 1: mara kyau) Yanayin kuskuren direba (0: al'ada 1: mara kyau) Yanayin kunna direba (0: kunna 1: Kashewa)
Ajiye
Teburin 3.10 Odometer Feedback Frame
Sunan umarni
Tsarin bayanan bayanan Odometer
Aika kumburi Karɓar kumburi
ID
Zagayowar ms
Karbar Lokacin Karewa (ms)
Chassis mai sarrafa waya
Naúrar kula da yanke shawara
0 x311
20ms
Babu
Tsawon bayanai
0 x08
Matsayi
Aiki
Nau'in bayanai
Bayani
byte [0] byte [1]
Mafi girman bit na dabaran hagu
odometer
Na biyu mafi girma bit na
odometer dabaran hagu
sanya hannu int32
Bayanin odometer na ƙafar hagu na chassis
Naúrar mm
byte [2]
Na biyu mafi ƙasƙanci bit na
odometer dabaran hagu
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byte [3] byte [4] byte [5] byte [6] byte [7]
Mafi ƙanƙanci na ƙaƙƙarfan odometer na ƙafar hagu
Mafi girman bit na
odometer dabaran dama
Na biyu mafi girma bit na
odometer dabaran dama
Na biyu mafi ƙasƙanci bit na
odometer dabaran dama
Mafi ƙasƙanci na ƙafar dama
odometer
sanya hannu int32
Bayanin odometer na dabaran dama na chassis
Naúrar mm
Tebur 3.11 Bayanin bayanin kula da nesa
Sunan umarni
Firam na bayanin kula da nesa
Aika kumburi Karɓar kumburi
ID
Zagayowar ms
Karbar Lokacin Karewa (ms)
Chassis mai sarrafa waya
Naúrar kula da yanke shawara
0 x241
20ms
Babu
Tsawon bayanai
0 x08
Matsayi
Aiki
Nau'in bayanai
Bayani
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byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
Ra'ayin SW mai nisa
Dama dama hagu da dama Dama joystick sama
da ƙasa Hagu joystick sama
da ƙasa Hagu joystick na hagu
kuma kullin Hagu na dama VRA
Duban ƙidayar da aka keɓe
ba sa hannu int8
sanya hannu int8 sanya hannu int8 sanya hannu int8 sanya hannu int8 sanya hannu int8
- ba a sanya hannu ba int8
bit[0-1]: SWA 2-up 3-saukar bit[2-3]: SWB 2-up 1-mid 3-down bit[4-5]: SWC 2-up 1-mid 3-down
bit[6-7]: SWD 2-up 3-down Kewayon darajar [-100,100] Kewayon darajar [-100,100] Kewayon ƙimar [-100,100] Kewayon ƙimar [-100,100] Matsayin ƙimar [-100,100] 0x00 0-255 ƙidayar madauki
Tebur 3.12 Bayanin bayanan baturi BMS
Umurni
Node don aikawa
Node don karɓa
Tufafi-by-waya chassis
Naúrar yanke shawara da sarrafawa
Tsawon bayanai
0 x08
Byte
Ma'ana
Bayanan Bayani na BMS
ID
Lokaci ms
Karɓi lokacin ƙarewa (ms)
0 x361
500ms
Babu
Nau'in bayanai
Lura
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byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] umurnin
Baturi SOC
Jihar da ake tuhuma
ba sa hannu int8
Batirin SOH (Jihar
Lafiya)
ba sa hannu int8
Babban oda byte na baturi voltage Low odar byte na baturi voltage
ba sa hannu int16
Babban oda na baturi na halin yanzu Ƙananan oda na baturi na halin yanzu
sanya hannu int16
Babban oda byte na zafin baturi
Low odar byte na zafin baturi
sanya hannu int16
Kewaye 0 ~ 100 Rage 0 ~ 100 Raka'a: 0.01 V
Naúrar: 0.1 A
Raka'a: 0.1
Tebur 3.13 Bayanin bayanan baturi BMS
Bayanan Bayani na BMS
Node don aikawa
Node don karɓa
Tufafi-by-waya chassis
Naúrar yanke shawara da sarrafawa
Bayani na 0x362
Lokaci ms
Karɓi lokacin ƙarewa (ms)
500ms
Babu
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Tsawon bayanan Byte
0x04 Ma'ana
Nau'in bayanai
byte [0]
Matsayin ƙararrawa 1
ba sa hannu int8
byte [1]
Matsayin ƙararrawa 2
ba sa hannu int8
byte [2]
Matsayin Gargaɗi 1 ba a sanya hannu ba int8
byte [3]
Matsayin Gargaɗi 2 ba a sanya hannu ba int8
Lura
BIT1: Ƙarfafawatage; BIT2: Ƙarfafawatage; BIT3: Babban zafin jiki; BIT4: Ƙananan zafin jiki; BIT7: Saukarwa
overcurrent
BIT0: Yin caji mai jujjuyawa
BIT1: Ƙarfafawatage; BIT2: Ƙarfafawatage; BIT3: Babban zafin jiki; BIT4: Ƙananan zafin jiki; BIT7: Saukarwa
overcurrent
BIT0: Yin caji mai jujjuyawa
3.3.3
BUNKER
MINI
2.0 ROS
Kunshin
Amfani
Example
ROS yana ba da wasu daidaitattun sabis na tsarin aiki, kamar abstraction hardware, ƙananan matakan sarrafa na'ura, aiwatar da ayyuka gama gari, saƙon tsaka-tsaki, da sarrafa fakitin bayanai. ROS ya dogara ne akan tsarin gine-ginen hoto, ta yadda tafiyar matakai na nodes daban-daban za su iya karɓa, bugawa, da tara bayanai daban-daban (kamar ji, sarrafawa, jiha, tsarawa, da sauransu). A halin yanzu ROS galibi yana goyan bayan UBUNTU.
Ci gaba
shiri
Hardware
shirye-shiryen CANlight na iya sadarwa module X1 Thinkpad E470 Laptop X1 AGILEX BUNKER MINI 2.0 robot chassis X1
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AGILEX BUNKER MINI 2.0 yana goyan bayan ramut FS-i6s X1 AGILEXBUNKER MINI 2.0 babban mashigar jirgin sama X1 Muhalli
bayanin
of
amfani
exampda Ubuntu 18.04 ROS Git
Hardware
haɗi
kuma
shiri
Ciro layin CAN na BUNKER MINI 2.0 4-core aviation ko na baya, sannan ku haɗa CAN_H da CAN_L a cikin layin CAN zuwa adaftar CAN_TO_USB bi da bi;
Kunna madaidaicin maɓallin chassis na robot ɗin hannu na BUNKER MINI 2.0, kuma duba ko an sake kunna tasha ta gaggawa a bangarorin biyu;
Haɗa CAN_TO_USB zuwa tashar USB na kwamfutar tafi-da-gidanka. Ana nuna zanen haɗin kai a hoto 3.4.
Hoto 3.4 CAN zane mai haɗin layi
ROS
Shigarwa
kuma
Muhalli
Saita
Don cikakkun bayanan shigarwa, da fatan za a koma zuwa http://wiki.ros.org/kinetic/Installa-tion/Ubuntu
Gwaji
ANA IYA
hardware
kuma
CAN
sadarwa
Saita adaftar CAN-TO-USB Kunna gs_usb kernel module
sudo modprobe gs_usb Saita ƙimar baud zuwa 500k kuma kunna adaftar CAN-TO-USB
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sudo ip link kafa can0 nau'in nau'in nau'in nau'in nau'in nau'in nau'in nau'in nau'in nau'in nau'i na iya bitrate 500000
Idan babu kuskure a cikin matakan da suka gabata, zaku iya duba na'urorin CAN tare da umarnin da ke ƙasa
ifconfig-a
Shigar da amfani da kayan aiki don gwada kayan aikin sudo apt shigar can-utils
Idan an haɗa adaftar CAN-TO-USB zuwa TITAN kuma an kunna TITAN, ana iya amfani da umarnin da ke ƙasa don sa ido kan bayanan TITAN.
kambun can0
Da fatan za a koma zuwa: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux. html
AGILEX
BUNKER
ROS
Kunshin
Zazzagewa
kuma
tattara
Zazzage abubuwan dogaro
$ sudo dace shigar -y ros-$ROS_DISTRO-teleop-twist-keyboard Clone kuma tara lambar tushe bunker_ros
mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/bunker_ros.git cd .. catkin_make source devel/setup.bash
Dubawa https://github.com/agilexrobotics/bunker_ros
Fara
da
ROS
kumburi
Fara kumburin tushe
roslaunch bunker_bringup bunker_robot_base.launch
Guda kumburin keyboard_control roslaunch bunker_bringup bunker_teleop_keyboard.launch
Github ROS jagorar fakitin haɓakawa da umarnin amfani
*_base:: Babban kumburin chassis don aikawa da karɓar saƙonnin CAN masu matsayi. Dangane da tsarin sadarwa na ros, yana iya sarrafa motsi na chassis kuma ya karanta matsayin bunker ta cikin batun.
*_msgs: Ƙayyade takamaiman tsarin saƙon jigon martani na matsayin chassis
*_kawo: farawa files don nodes na chassis da nodes masu sarrafa madannai, da rubutun don kunna tsarin usb_to_can
4
Amfani
kuma
aiki
Don sauƙaƙe masu amfani don haɓaka sigar firmware na BUNKER MINI 2.0 da kuma kawo wa abokan ciniki ƙarin cikakkiyar ƙwarewa, BUNKER MINI 2.0 yana ba da ƙirar kayan masarufi don haɓaka firmware da software na abokin ciniki daidai.
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Haɓakawa
Shiri
Agilex ANA IYA gyara module X 1 Micro USB USB X 1 BUNKER MINI chassis X 1 Kwamfuta (WINDOWS OS (Operating System)) X 1
Haɓakawa
Tsari
1.Toshe cikin na'urar USBTOCAN akan kwamfutar, sannan ka buɗe software na AgxCandoUpgradeToolV1.3_boxed.exe (jerin ba zai iya zama kuskure ba, da farko buɗe software sannan toshe cikin module, na'urar ba za a gane ba). 2. Danna maɓallin Buɗe Serial, sannan danna maɓallin wuta a jikin motar. Idan haɗin ya yi nasara, za a gane sigar bayanin babban iko, kamar yadda aka nuna a cikin adadi.
3. Danna Load Firmware File maballin don loda firmware don haɓakawa. Idan loading ya yi nasara, za a sami bayanan firmware, kamar yadda aka nuna a cikin adadi
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4.Click node da za a inganta a cikin node list akwatin, sa'an nan kuma danna Fara Upgrade Firmware don fara upgrading da firmware. Bayan haɓakawa ya yi nasara, akwatin pop-up zai faɗakarwa.
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5
Tambaya&A
Q:
BUNKER
MINI
2.0 yana farawa
kullum,
amma
da
abin hawa
jiki
yayi
ba
motsawa
tare da
da
m
sarrafawa? A: Na farko, ƙayyade ko an danna maɓallin wuta da kuma ko an saki maɓallin dakatarwar gaggawa, sannan tabbatar da ko yanayin sarrafawa da aka zaɓa ta hanyar zaɓin yanayin a gefen hagu na sama na ramut daidai ne.
Q:
Yaushe
da
BUNKER
MINI
2.0 nesa
sarrafawa
is
al'ada,
da
chassis
jihar
kuma
motsi
bayani
martani
is
al'ada,
kuma
da
sarrafawa
firam
yarjejeniya
is
bayar,
me yasa
da
abin hawa
jiki
sarrafawa
yanayin
ba zai iya ba
be
canza,
da kuma
chassis
yayi
ba
amsa
ku
da
sarrafawa
firam
yarjejeniya? A: A ƙarƙashin yanayi na al'ada, idan BUNKER MINI 2.0 na iya sarrafa shi ta hanyar nesa, yana nufin cewa sarrafa motsi na chassis na al'ada ne, kuma yana iya karɓar firam ɗin ra'ayi na chassis, wanda ke nufin cewa hanyar haɗin CAN ta al'ada ce. Da fatan za a duba ko an canza umarnin zuwa yanayin sarrafawa na CAN..
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Q:
Yaushe
da
dacewa
sadarwa
is
dauke
fita
ta hanyar
da
CAN
bas,
kuma
da
chassis
martani
umarni
is
al'ada,
me yasa
yayi
da
mota
do
ba
amsa
bayan
da
sarrafawa
is
bayar? A: BUNKER MINI 2.0 yana da hanyar kariya ta sadarwa a ciki. Chassis yana da tsarin kariya na lokaci lokacin da ake hulɗa da umarnin sarrafa CAN na waje. A zaton cewa bayan da abin hawa ya samu firam na sadarwa protocol, ba ta samun na gaba frame na sarrafa umarni fiye da 500MS, kuma zai shigar da sadarwa kariya da gudun 0, don haka oda daga uwar kwamfuta dole ne a lokaci-lokaci bayar da umurnin.
6
Samfura
Girma
6.1
of
samfur
shaci
girma
6.2
Misalai
of
saman
fadada
baka
girma
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Takardu / Albarkatu
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AgileX 2023.09 Robotics Team [pdf] Manual mai amfani 2023.09 Robotics Team, 2023.09, Robotics Team, Team |
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AgileX 2023.09 Robotics Team [pdf] Manual mai amfani 2023.09 Robotics Team, 2023.09, Robotics Team, Team |