TRACER AgileX Robotics Team Robot Mobile mai cin gashin kanta

Wannan babin ya ƙunshi mahimman bayanan tsaro, kafin a kunna robot ɗin a karon farko, kowane mutum ko ƙungiya dole ne ya karanta kuma ya fahimci wannan bayanin kafin amfani da na'urar. Idan kuna da wasu tambayoyi game da amfani, da fatan za a tuntuɓe mu a support@agilex.ai. Da fatan za a bi ku aiwatar da duk umarnin taro da jagororin da ke cikin surori na wannan jagorar, wanda yake da mahimmanci. Ya kamata a ba da kulawa ta musamman ga rubutun da ke da alaƙa da alamun gargaɗi.

Bayanin Tsaro

Bayanin da ke cikin wannan jagorar bai ƙunshi ƙira, shigarwa da aiki na cikakken aikace-aikacen mutum-mutumi ba, kuma baya haɗa da duk kayan aikin da zai iya shafar amincin cikakken tsarin. Zane da amfani da cikakken tsarin yana buƙatar bin ka'idodin aminci da aka kafa a cikin ƙa'idodi da ƙa'idodin ƙasar da aka shigar da robot. Masu haɗin TRACER da abokan ciniki na ƙarshe suna da alhakin tabbatar da bin ka'idoji da ƙa'idodi na ƙasashen da suka dace, da kuma tabbatar da cewa babu manyan haɗari a cikin cikakkiyar aikace-aikacen robot. Wannan ya haɗa amma bai iyakance ga masu zuwa ba

inganci da alhakin

• Yi ƙididdigar haɗari na cikakken tsarin robot.
• Haɗa ƙarin kayan aikin aminci na wasu injuna waɗanda kimanta haɗarin haɗari tare.
• Tabbatar da cewa ƙira da shigarwa na gabaɗayan kayan aikin robot, gami da software da tsarin hardware, daidai suke.
• Wannan mutum-mutumi ba shi da cikakken mutum-mutumi na hannu, wanda ya haɗa da amma ba'a iyakance shi ga haɗarin haɗari ta atomatik ba, hana faɗuwa, gargaɗin tsarin halitta da sauran ayyukan aminci masu alaƙa. Ayyuka masu alaƙa suna buƙatar masu haɗawa da ƙarshen abokan ciniki su bi ƙa'idodi masu dacewa da ƙa'idodi da ƙa'idodi masu yuwuwa don ƙimar aminci. Don tabbatar da cewa robot ɗin da aka haɓaka bashi da wani babban haɗari da haɗari a cikin aikace-aikace na ainihi.
• Tattara duk takaddun a cikin fasaha file: gami da kimanta haɗarin da wannan littafin.

La'akarin Muhalli

• Don amfani na farko, da fatan za a karanta wannan jagorar a hankali don fahimtar ainihin abun ciki na aiki da ƙayyadaddun aiki.
• Don aikin sarrafa nisa, zaɓi wuri mai buɗewa don amfani da TRACER, saboda TRACER ba shi da sanye da kowane firikwensin gujewa cikas ta atomatik.
• Yi amfani da TRACER koyaushe ƙasa da -10 ℃ ~ 45 ℃ zafin yanayi.
• Idan ba a saita TRACER tare da kariyar IP na al'ada daban ba, ruwan sa da kariyar ƙura zai zama IP22 KAWAI.

Jerin abubuwan dubawa kafin aiki

• Tabbatar cewa kowace na'ura tana da isasshen iko.
• Tabbatar cewa Bunker bashi da lahani bayyananne.
• Bincika idan baturin mai sarrafa nesa yana da isasshen iko.
• Lokacin amfani, tabbatar da an saki na'urar tasha ta gaggawa.

Aiki

• A cikin aikin sarrafawa mai nisa, tabbatar da yankin da ke kusa yana da fa'ida.
• Gudanar da nesa a cikin kewayon gani.
• Matsakaicin nauyin TRACER shine 100KG. Lokacin amfani, tabbatar da cewa nauyin da aka biya bai wuce 100KG ba.
• Lokacin shigar da tsawo na waje akan TRACER, tabbatar da matsayin tsakiyar taro na tsawo kuma tabbatar yana tsakiyar juyawa.
• Da fatan za a yi cajin lokacin da na'urar voltage kasa da 22.5V.
• Lokacin da TRACER yana da lahani, da fatan za a daina amfani da shi nan da nan don guje wa lalacewa ta biyu.
• Lokacin da TRACER ya sami lahani, da fatan za a tuntuɓi ƙwararrun fasaha don magance shi, kar ku ɗauki lahani da kanku.
• Yi amfani da SCOUT MINI (OMNI) koyaushe a cikin mahalli tare da matakin kariya da ake buƙata don kayan aiki.
• Kar a tura SCOUT MINI(OMNI) kai tsaye.
• Lokacin caji, tabbatar cewa yanayin zafin jiki ya wuce 0 ℃

Kulawa

Domin tabbatar da ajiyar baturin, sai a adana batir a karkashin wutar lantarki, kuma a rika caje shi akai-akai idan ba a yi amfani da shi na dogon lokaci ba.

MINIAGV (TRACER) Gabatarwa

TRACER an tsara shi azaman UGV mai amfani da yawa tare da yanayin aikace-aikacen daban-daban da aka yi la'akari da su: ƙirar ƙira; m haɗi; m motor tsarin iya high payload.The hade biyu-wheel bambanci chassis da cibiya motor iya sa shi motsa m indoor.Ƙarin aka gyara kamar sitiriyo kamara, Laser radar, GPS, IMU da kuma mutum-mutumi manipulator za a iya optionally shigar a kan TRACER don ci-gaba kewayawa da aikace-aikacen hangen nesa na kwamfuta. Ana amfani da TRACER akai-akai don ilimin tuki da bincike mai cin gashin kansa, tsaro na cikin gida da waje da sufuri, don suna kawai.

Jerin sassan

Suna	Yawan
TRACER Robot Jikin	x1
Caja baturi (AC 220V)	x1
Mai watsawa mai nisa (na zaɓi)	x1
USB zuwa kebul na serial	x1
Filogi na jirgin sama (namiji, 4-Pin)	x1
USB zuwa CAN sadarwa module	x1

Bayanan fasaha

Bukatun ci gaba
Ana ba da mai watsa RC (na zaɓi) a cikin masana'anta na TRACER, wanda ke ba masu amfani damar sarrafa chassis na robot don motsawa da juyawa; Ana iya amfani da musaya na CAN da RS232 akan TRACER don keɓanta mai amfani

Asali

Wannan sashe yana ba da taƙaitaccen gabatarwa ga dandalin TRACER ta hannu mutummutumi, kamar yadda aka nuna

An Ƙirƙira TRACER azaman cikakkiyar dabarar fasaha, wanda tare da injin DC mai ƙarfi mai ƙarfi, yana ba da damar chassis na TRACER robot don motsawa cikin sassauƙa akan ƙasa mai lebur na cikin gida. Ana ɗora igiyoyin hana haɗari a kusa da abin hawa don rage yiwuwar lahani ga jikin abin hawa yayin karo. Ana sanya fitilu a gaban abin hawa, wanda aka tsara farin haske don haskakawa a gaba. Ana ɗora maɓallan tasha na gaggawa a ƙarshen jikin abin hawa, wanda zai iya kashe wutar robot ɗin nan da nan lokacin da mutum-mutumin ya yi mummuna. Ana samar da masu haɗin haɗin ruwa don wutar lantarki da sadarwar sadarwa ta DC a bayan TRACER, wanda ba wai kawai yana ba da damar daidaitawa tsakanin robot da abubuwan waje ba amma har ma yana tabbatar da kariya mai mahimmanci ga na ciki na robot koda a cikin yanayin aiki mai tsanani. An tanada buɗaɗɗen ɗakin bayonet a saman don masu amfani.

Alamar matsayi
Masu amfani za su iya gano matsayin jikin abin hawa ta hanyar voltmeter da fitulun da ke kan TRACER. Don cikakkun bayanai

Umarni akan musaya na lantarki

Rear lantarki dubawa
Ana nuna ƙirar haɓakawa a ƙarshen ƙarshen baya a cikin Hoto 2.3, inda Q1 shine tashar tashar tashar D89; Q2 shine maɓallin tsayawa; Q3 ita ce tashar cajin wutar lantarki; Q4 shine ƙaddamarwar haɓakawa don CAN da wutar lantarki na 24V; Q5 shine mitar wutar lantarki; Q6 shine jujjuyawar jujjuyawa azaman babban maɓallin wutan lantarki.

Ƙungiyar ta baya tana samar da hanyar sadarwa ta CAN guda ɗaya da kuma ikon wutar lantarki na 24V tare da saman ɗaya (biyu daga cikinsu suna cikin haɗin kai). An ba da ma'anar fil

Umarni akan ramut
FS RC watsawa wani zaɓi ne na TRACER don sarrafa robot da hannu. Mai watsawa ya zo tare da daidaitawar magudanar hannun hagu. Ma'anar da aiki

Baya ga sandunan S1 da S2 guda biyu da aka yi amfani da su don aika umarni na madaidaiciya da na kusurwa, ana kunna maɓalli biyu ta tsohuwa: SWB don zaɓin yanayin sarrafawa (matsayi na sama don yanayin sarrafa umarni da matsakaicin matsayi don yanayin sarrafawa), SWC don haske. sarrafawa. Ana buƙatar maɓallan POWER guda biyu a riƙe su tare don kunna ko kashe mai watsawa.

Umarni akan buƙatun sarrafawa da motsi
Kamar yadda aka nuna a Hoto 2.7, jikin abin hawa na TRACER yana cikin layi daya da axis X na tsarin daidaitawa da aka kafa. Bayan wannan al'ada, ingantaccen saurin mizani yayi daidai da motsin gaba na abin hawa tare da ingantacciyar alkiblar x-axis kuma ingantaccen saurin kusurwa ya dace da ingantaccen jujjuyawar hannun dama game da z-axis. A cikin yanayin sarrafawa ta hannu tare da mai watsa RC, tura sandar C1 (samfurin DJI) ko sandar S1 (ƙirar FS) gaba zai haifar da ingantaccen umarnin saurin mizani da tura C2 (samfurin DJI) da S2 (FS model) zuwa hagu. zai samar da ingantaccen umarni na saurin kusurwa

Farawa

Wannan sashe yana gabatar da ainihin aiki da haɓaka dandamalin TRACER ta amfani da haɗin bas na CAN.

Amfani da aiki

Duba

• Duba yanayin jikin abin hawa. Bincika ko akwai manyan abubuwan da ba su da kyau; idan haka ne, tuntuɓi ma'aikatan sabis na bayan-sayar don tallafi;
• Bincika makullin tasha na gaggawa. Tabbatar cewa an saki maɓallan dakatarwar gaggawa.

Rufewa
Juya maɓallin maɓallin don yanke wutar lantarki;

Fara sama

• Halin sauya tasha na gaggawa. Tabbatar da cewa maɓallan dakatarwar gaggawa duk an saki;
• Juya maɓallin maɓallin (Q6 akan panel ɗin lantarki), kuma yawanci, voltmeter zai nuna madaidaicin ƙarfin baturitage da na gaba da na baya za a kunna su

Tasha gaggawa
Latsa maɓallin tura gaggawa a hagu da dama na jikin abin hawa na baya;

Basic tsarin aiki na ramut
Bayan an fara chassis na TRACER robot hannu daidai, kunna mai watsa RC kuma zaɓi yanayin nesa. Bayan haka, motsi na dandalin TRACER na iya sarrafa shi ta hanyar watsa RC.

Cajin
TRACER an sanye shi da caja 10A ta tsohuwa don biyan bukatun abokan ciniki.

Ana nuna cikakken tsarin aiki na caji kamar haka

• Tabbatar cewa wutar lantarki ta TRACER chassis ta kashe. Kafin yin caji, da fatan za a tabbatar cewa Q6 (maɓallin maɓalli) a cikin na'ura mai sarrafawa ta baya an kashe;
• Saka filogi na caja a cikin cajin Q3 akan sashin kula da baya;
• Haɗa caja zuwa wutar lantarki kuma kunna mai kunnawa a cikin caja. Sa'an nan, robot ya shiga yanayin caji.

Sadarwa ta amfani da CAN
TRACER yana ba da musaya na CAN da RS232 don keɓance mai amfani. Masu amfani za su iya zaɓar ɗaya daga cikin waɗannan mu'amala don gudanar da sarrafa umarni akan jikin abin hawa.

CAN saƙon yarjejeniya
TRACER ta ɗauki mizanin sadarwar CAN2.0B wanda ke da adadin baud ɗin sadarwa na 500K da tsarin saƙon Motorola. Ta hanyar bas ɗin bas na CAN na waje, ana iya sarrafa saurin madaidaiciyar motsi da saurin kusurwa na chassis; TRACER za ta mayar da martani kan bayanin matsayin motsi na yanzu da bayanin matsayinsa na chassis a ainihin lokacin. Yarjejeniyar ta haɗa da firam ɗin martani game da matsayin tsarin, firam ɗin sarrafa motsi da firam ɗin sarrafawa, abubuwan da ke ciki ana nuna su kamar haka: Umurnin martani ga tsarin ya haɗa da bayanan da aka bayar game da halin yanzu na jikin abin hawa, yanayin yanayin sarrafawa, ƙarfin baturi.tage da gazawar tsarin. An ba da bayanin a cikin Tebur 3.1.

Tsarin Ra'ayi na TRACER Chassis Tsarin Halin

Umarnin mayar da martani na Sunan Tsarin Matsayi
Aika kumburi	Karɓar kumburi	ID	Zagaye (ms)	Lokacin karɓa (ms)
Chassis ta hanyar waya Tsawon bayanai Matsayi	Decoisniotrno-lmuankiting 0x08 Aiki	0 x151   Nau'in bayanai	20ms	Babu
			Bayani
byte [0]	Cuvrerhenictlestbaotudyof	ba sa hannu int8	0x00 Tsarin a yanayin al'ada 0x01 Yanayin tsaida gaggawa 0x02 keɓanta tsarin
byte [1]	Sarrafa yanayi	ba sa hannu int8	0x00 Yanayin sarrafawa mai nisa 0x01 CAN Yanayin sarrafa umarni[1] 0x02 Yanayin sarrafa tashar jiragen ruwa na Serial
byte [2] byte [3]	Baturi voltage mafi girma 8 bit Baturi voltage kasa 8 bits	ba sa hannu int16	Ainihin voltage X 10 (tare da daidaito na 0.1V)
byte [4]	Bayanin gazawa	ba sa hannu int16	Duba bayanin kula don cikakkun bayanai【Table 3.2】
byte [5]	Ajiye	–	0 x00
byte [6]	Ajiye	–	0 x00
byte [7]	Ƙidaya paritybit (ƙidaya)	ba sa hannu int8	0 - 255 kirga madaukai

Bayanin Fassara

Umurnin firam ɗin sarrafa motsi ya haɗa da martanin saurin mizani na yanzu da saurin kusurwar jikin abin hawa mai motsi. Don cikakken abun ciki na yarjejeniya, da fatan za a koma Tebu 3.3.

Firam ɗin Sauraron Ra'ayin Motsi

Umurnin mayar da martani na Motsi Sunan Umurni
Aika kumburi	Karɓar kumburi	ID	Zagaye (ms)	Lokacin karɓa (ms)
Chassis ta hanyar waya	Naúrar sarrafa yanke shawara	0 x221	20ms	Babu
Tsawon bayanai	0 x08
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0] byte [1]	Matsar da sauri sama da 8 bits Gudun motsi ƙasa da raƙuman ruwa 8	sanya hannu int16	Gudun abin hawa: mm/s
byte [2] byte [3]	Gudun jujjuyawa yana sama da ragi 8 Saurin jujjuyawar ƙananan raƙuman ruwa 8	sanya hannu int16	Nau'in saurin kusurwar abin hawa: 0.001rad/s
byte [4]	Ajiye	–	0 x00
byte [5]	Ajiye	–	0 x00
byte [6]	Ajiye	–	0 x00
byte [7]	Ajiye	–	0 x00

Firam ɗin sarrafawa ya haɗa da buɗewar sarrafawa na saurin layi da kuma sarrafa buɗewar saurin kusurwa. Don cikakken abun ciki na yarjejeniya, da fatan za a koma Tebu 3.4.

Matsakaicin Sarrafa Dokar Kula da Motsi

Umurnin Sarrafa Sunan Umurni
Aika kumburi Tsawon bayanan tuƙi-by-waya	Karɓar kumburin kumburin chassis 0 x08	Bayani na 0x111	Zagaye (ms)	Lokacin karɓa (ms)
			20ms	500ms
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0] byte [1]	Gudun motsawa sama da ragi 8 Matsar da sauri ƙasa da rago 8	sanya hannu int16	Nau'in saurin abin hawa: mm/s
byte [2] byte [3]	Gudun jujjuyawa yana sama da ragi 8 Saurin jujjuyawar ƙananan raƙuman ruwa 8	sanya hannu int16	Gudun kusurwar abin hawa Naúrar: 0.001rad/s
byte [4]	Ajiye	—	0 x00
byte [5]	Ajiye	—	0 x00
byte [6]	Ajiye	—	0 x00
byte [7]	Ajiye	—	0 x00

Firam ɗin sarrafa haske ya haɗa da yanayin hasken gaba na yanzu. Don cikakken abun ciki na yarjejeniya, da fatan za a koma Tebu 3.5.

Firam ɗin Kula da Haske

Aika kumburi	Karɓar kumburi	ID	Zagayowar (ms) Lokacin karɓa (ms)
Chassis ta hanyar waya	Naúrar sarrafa yanke shawara	0 x231	20ms	Babu
Tsawon bayanai	0 x08
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0]	Ikon haske yana kunna tuta	ba sa hannu int8	Umarnin sarrafawa 0x00 ba shi da inganci 0x01 ikon sarrafa hasken wuta
byte [1]	Yanayin haske na gaba	ba sa hannu int8	0x002xB010 NmOC de 0x03 Mai amfani-bayyanar da haske
byte [2]	Hasken al'ada na hasken gaba	ba sa hannu int8	[0, 100], inda 0mreafxeimrsutomnboribgrhigtnhetnssess, 100 ke nufin
byte [3]	Ajiye	—	0 x00
byte [4]	Ajiye	—	0 x00
byte [5]	Ajiye	—	0 x00
byte [6] byte [7]	Adadin Adadin paritybit (ƙidaya)	– ba sa hannu int8	0 x00 0 a-

Firam ɗin yanayin sarrafawa ya haɗa da saita yanayin sarrafawa na chassis. Don cikakken abun ciki, da fatan za a koma Tebu 3.7.

Umarnin Tsarin Yanayin Sarrafa

Umarnin yanayin sarrafawa
Idan an kashe mai watsa RC, yanayin sarrafawa na TRACER an ɓata shi zuwa yanayin sarrafa umarni, wanda ke nufin ana iya sarrafa chassis kai tsaye ta hanyar umarni. Koyaya, kodayake chassis yana cikin yanayin sarrafa umarni, yanayin sarrafawa a cikin umarnin yana buƙatar saita shi zuwa 0x01 don samun nasarar aiwatar da umarnin saurin. Da zarar an sake kunna mai watsa RC, yana da matakin iko mafi girma don kare ikon sarrafa umarni da sauyawa kan yanayin sarrafawa. Firam ɗin matsayi ya ƙunshi saƙon kuskure bayyananne. Don cikakken abun ciki, da fatan za a koma Tebu 3.8.

Umurnin Tsarin Matsayin Matsayi

Matsayin Sunan Umurni Tsarin Matsayi
Aika kumburi	Karɓar kumburi	ID	Zagayowar (ms) Lokacin karɓa (ms)
Chassis ta hanyar waya Tsawon bayanai Matsayi	Naúrar sarrafa yanke shawara 0x01 Aiki	0 x441   Nau'in bayanai	Babu	Babu
			Bayani
byte [0]	Yanayin sarrafawa	ba sa hannu int8	0x00 Share duk kurakurai 0x01 Share kurakurai na motor 1 0x02 Share kurakurai na motor 2

Umarnin mayar da martani na Odometer

Aika node Steer-by-waya chassis Tsawon bayanai	Karɓar kumburin yanki na yanke shawara 0 x08	Bayani na 0x311	Cycle (ms) 接收超时(ms)
			20ms	Babu
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0]	Hagu mafi girman odometer	sanya hannu int32	Bayanai na odometer na hagu na hagu mm
byte [1]	Hagu na biyu mafi girman odometer
byte [2]	Hagu hagu na biyu mafi ƙanƙancin odometer
byte [3]	Hagu mafi ƙanƙancin odometer
byte [4]	Tayar dama mafi girman odometer	sanya hannu in32-	Bayanai na raƙuman odometer na dama taya mm
byte [5]	Tayar dama ta biyu mafi girman odometer
byte [6]	Taya dama na biyu mafi ƙasƙanci mai odometer
byte [7]	Dama mafi ƙasƙanci odometer

Za a mayar da bayanin matsayin chassis; menene ƙari, bayanin game da motar. Firam ɗin martani mai zuwa ya ƙunshi bayanai game da motar: Serial lambobi na injina 2 a cikin chassis ana nuna su a cikin hoton da ke ƙasa:

Firam ɗin Bayanin Bayani Mai Saurin Mota

Sunan Umurnin Motar Fahimtar Bayanin Mai Girma Mai Sauri
Aika kumburi	Karɓar kumburi	ID	Zagayowar (ms) Lokacin karɓa (ms)
Tsawon bayanan tuƙi-by-waya Matsayi	Tasiri-by-waya chassis 0x08 Aiki	0x251~0x252   Nau'in bayanai	20ms	Babu
			Bayani
byte [0] byte [1]	Gudun jujjuyawar mota mafi girma 8 bits Saurin jujjuyawar mota ƙasa da raƙuman ruwa 8	sanya hannu int16	Gudun jujjuyawar mota Naúrar: RPM
byte [2]	Ajiye	–	0 x00
byte [3]	Ajiye	—	0 x00
byte [4]	Ajiye	—	0 x00
byte [5]	Ajiye	—	0 x00
byte [6]	Ajiye	–	0 x00

Firam ɗin Bayanin Bayanin Ƙananan Gudun Mota

Sunan Umurnin Motar Fahimtar Bayanan Bayanin Ƙananan Gudu
Aika kumburi	Karɓar kumburi	ID	Zagaye (ms)
Tsawon bayanan tuƙi-by-waya Matsayi	Tasiri-by-waya chassis 0x08 Aiki	0x261~0x262   Nau'in bayanai	100ms
			Bayani
byte [0] byte [1]	Ajiye Ajiye	–	0 x00 0 x00
byte [2]	Ajiye	–	0 x00
byte [3]	Ajiye	—	0 x00
byte [4]	Ajiye	—	0 x00
byte [5]	Matsayin direba	—	Ana nuna cikakkun bayanai a cikin Tebur 3.12
byte [6]	Ajiye	–	0 x00
byte [7]	Ajiye	–	0

Bayanin Fassara

CAN haɗin kebul
DON BAYANIN MA'ANAR WIRE, DON ALLAH A NUNA SHAFIN 2.2.

• Ja:VCC(batir tabbatacce)
• Baki:GND(batir mara kyau)
• Blue:CAN_L
• Yellow:CAN_H

Jadawalin Tsari na Malekin Jirgin Jirgin Sama

LuraMatsakaicin abin da ake iya samu a halin yanzu yana kusa da 5 A.

Aiwatar da sarrafa umarni na CAN
Daidai fara chassis na TRACER robot hannu, kuma kunna watsa FS RC. Sannan, canza zuwa yanayin sarrafa umarni, watau juya yanayin SWB na watsa FS RC zuwa sama. A wannan gaba, TRACER chassis zai karɓi umarnin daga CAN interface, kuma mai watsa shiri kuma na iya tantance yanayin chassis na yanzu tare da bayanan ainihin lokacin da aka dawo daga motar CAN. Don cikakken abun ciki na yarjejeniya, da fatan za a koma zuwa ka'idar sadarwa ta CAN.

Sadarwa ta amfani da RS232

Gabatarwa zuwa tsarin yarjejeniya
Wannan daidaitaccen tsarin sadarwa ne wanda aka tsara tare da Ƙungiyar Masana'antu ta Lantarki (EIA) tare da Bell System, masana'antun modem da masana'antun kwamfuta a cikin 1970. Cikakken sunansa ana kiransa "ma'auni na fasaha don tsarin musayar bayanan binary tsakanin kayan aiki na bayanan bayanai (DTE) da kayan sadarwar bayanai (DCE). Wannan ma'auni yana buƙatar amfani da mai haɗin DB-25 mai 25-pin wanda kowane fil aka kayyade shi tare da abun ciki na sigina daidai da matakan sigina daban-daban. Bayan haka, an sauƙaƙa RS232 azaman mai haɗin DB-9 a cikin kwamfutocin IBM, wanda ya zama ma'auni na gaskiya tun daga lokacin. Gabaɗaya, tashoshin RS-232 don sarrafa masana'antu suna amfani da nau'ikan igiyoyi 3 kawai - RXD, TXD da GND.

Serial saƙon yarjejeniya

Mahimman sigogi na sadarwa

Abu	Siga
Baud darajar	115200
Duba	Babu dubawa
Tsawon bit Data	8 bits
Dakatar kadan	1 bit

Mahimman sigogi na sadarwa

Nau'in Tsarin Tsawon Tsawon Tsawon Tsawon Tsawon Tsawon Tsawon Tsawon Tsawon Tsawon-bit na nau'in Umurnin ID na Fannin Fahimtar Fayil
SOF		firam_L	CMD_TYPE	CMD_ID	data [0] ... data[n]	firam_id	check_sum
baiti 1	baiti 2	baiti 3	baiti 4	baiti 5	byte 6 … byte 6+n	baiti 7+n	baiti 8+n
5A	A5

Yarjejeniyar ta ƙunshi farkon bit, tsayin firam, nau'in umarni na firam, ID na umarni, filin bayanai, ID ɗin firam, da abun ciki na checksum. Inda, tsayin firam ɗin yana nufin tsayin ban da fara bit da abun dubawa; checksum yana nufin jimlar daga farkon bit zuwa duk bayanan ID na firam; ID ɗin firam ɗin madauki ne tsakanin 0 zuwa 255, wanda za'a ƙara da zarar an aika kowane umarni.

Abubuwan da ke cikin yarjejeniya
Umurnin martani game da matsayin tsarin

Sunan Umurnin Matsayin tsarin amsa umarni
Aika kumburi	Karɓar kumburi	Zagayowar (ms) Lokacin karɓa (ms)
Tsawon siti-by-waya chassis Frame Nau'in umarni	Naúrar sarrafa yanke shawara 0x0a Umarnin mayar da martani (0xAA)	20ms	Babu
ID na umarni	0 x01
Tsawon filin bayanai	6
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0]	Halin halin yanzu na jikin abin hawa	ba sa hannu int8	0x00 Tsarin a yanayin al'ada 0x01 Yanayin tsayawa na gaggawa (ba a kunna ba) 0x01 keɓanta tsarin
byte [1]	Sarrafa yanayi	ba sa hannu int8	0x00 Yanayin sarrafawa mai nisa 0x01 CAN Yanayin sarrafa umarni[1] 0x02 Yanayin sarrafa tashar jiragen ruwa na Serial
byte [2] byte [3]	Baturi voltage fiye 8 bits Baturi voltage kasa 8 bits	ba sa hannu int16	Ainihin voltage X 10 (tare da daidaito na 0.1V)
byte [4] byte [5]	Bayanin gazawa ya fi girma 8 bit Bayanin gazawa ƙananan 8 bits	ba sa hannu int16	[BayyanaSteioennofteFsaiflourredeIntafoilrsmation]

• @TAKAITACCEN SAKEN SOSAI CHECKSUM EXAMPCODE
• @PARAM[IN] *DATA : SERIAL SAKONNIN DATA GASKIYA GASKIYA
• @PARAM[IN] Len :TSARIN BAYANIN SOSAI
• @ MAYARWA SAKAMAKON CIKI
• STATIC UINT8 AGILEX_SERIALMSGCHECKSUM(UINT8 *DATA, UINT8 LEN)
• UINT8 CHECKSUM = 0X00;
• DON (UINT8 I = 0; I <(LEN-1); I++)
• CHECKSUM += DATA[I];

ExampSerial Check code algorithm

Bayanin Fassara
Byte	Bit	Ma'ana
byte [4]         byte [5]     [1]: Subs	bit [0]	Duba kuskuren umarnin sarrafa sadarwa na CAN (0: Babu gazawa 1: gazawa)
	bit [1]	Ƙararrawar ƙararrawa sama da zafin jiki [1] (0: Babu ƙararrawa 1: Ƙararrawa) Zazzabi mai iyaka zuwa 55 ℃
	bit [2]	Ƙararrawar Mota sama da na yanzu[1] (0: Babu ƙararrawa 1: Ƙararrawa) Ƙimar da ta dace na yanzu 15A
	bit [3]	Baturi ƙarƙashin-voltage ƙararrawa (0: Babu ƙararrawa 1: Ƙararrawa) Ƙararrawa voltagku 22.5v
	bit [4]	Ajiye, tsoho 0
	bit [5]	Ajiye, tsoho 0
	bit [6]	Ajiye, tsoho 0
	bit [7]	Ajiye, tsoho 0
	bit [0]	Baturi ƙarƙashin-voltage gazawar (0: Babu gazawa 1: gazawa) Kariya juzu'itagku 22v
	bit [1]	Baturi kan-voltage gazawar (0: Babu gazawa 1: gazawa)
	bit [2] bit [3] bit [4]	Lamba 1 gazawar sadarwar mota (0: Babu gazawa 1: Rashin gazawa) Na 2 gazawar sadarwar mota (0: Babu gazawa 1: gazawa) Lamba 3 gazawar sadarwar mota (0: Babu gazawa 1: gazawa)
	bit [5]	Lamba 4 gazawar sadarwar mota (0: Babu gazawa 1: gazawa)
	bit [6] bit [7] daidai ve	Motar kariyar yawan zafin jiki[2] (0: Babu kariya 1: Kariya) Zazzabi mai iyaka zuwa 65 ℃ Kariyar motoci sama da na yanzu[2] (0: Babu kariya 1: Kariya) ƙimar yanzu mai inganci 20A sions na robot chassis firmware version bayan V1.2.8 ana goyan bayan, amma a baya versions bukatar zama.

1. Na gaba juzu'in na robot chassis firmware version bayan V1.2.8 ana tallafawa, amma ana buƙatar sabunta nau'ikan da suka gabata kafin a goyan baya.
2. Ƙararrawar zafin jiki na tuƙin mota da ƙararrawar ƙararrawa sama da na yanzu ba za a sarrafa su a ciki ba amma kawai saita don samar da kwamfutar ta sama don kammala wasu abubuwan da aka riga aka yi. Idan tuƙi sama-sama ya faru, ana ba da shawarar rage saurin abin hawa; idan yawan zafin jiki ya faru, ana ba da shawarar don rage saurin da farko kuma jira zafin jiki don ragewa. Za a mayar da wannan bitar tuta zuwa yanayin al'ada yayin da zafin jiki ya ragu, kuma ƙararrawar da ke kan gaba za ta kasance da ƙarfi da zarar an dawo da ƙimar yanzu zuwa yanayin al'ada;
3. Za a sarrafa kariyar yawan zafin jiki na tuƙin mota da kuma kariyar da ke kan motar a halin yanzu a ciki. Lokacin da yawan zafin jiki na tuƙi ya fi zafin karewa, za a iyakance fitar da abin tuƙi, abin hawa zai tsaya a hankali, kuma ƙimar kulawar umarnin sarrafa motsi zai zama mara aiki. Wannan ɗan tuta ba za a share shi da ƙarfi ba, wanda ke buƙatar kwamfutar babba don aika umarnin share kariyar gazawa. Da zarar an share umarnin, za a iya aiwatar da umarnin sarrafa motsi ne kawai.

Umurnin mayar da martani kan motsi

Sunan Umurni	Umarnin Sauraron Sauraron Motsi
Aika kumburi	Karɓar kumburi	Zagaye (ms)	Lokacin karɓa (ms)
Tsawon siti-by-waya chassis Frame Nau'in umarni	Naúrar sarrafa yanke shawara 0x0A Umarnin mayar da martani (0xAA)	20ms	Babu
ID na umarni	0 x02
Tsawon filin bayanai	6
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0] byte [1]	Matsar da sauri sama da 8 bits Gudun motsi ƙasa da raƙuman ruwa 8	sanya hannu int16	Ainihin gudun X 1000 (tare da daidaiton 0.001m/s)
byte [2] byte [3]	Gudun jujjuyawa yana sama da ragi 8 Saurin jujjuyawar ƙananan raƙuman ruwa 8	sanya hannu int16	Ainihin gudun X 1000 (tare da daidaiton 0.001 rad/s)
byte [4]	Ajiye	–	0 x00
byte [5]	Ajiye	–	0 x00

Umurnin sarrafa motsi

Umurnin Sarrafa Sunan Umurni
Aika kumburi	Karɓar kumburi	Cycle (ms)	Lokacin karɓa (ms)
Naúrar sarrafa yanke shawara Tsawon firam Nau'in umarni	Kullin Chassis 0x0A Umurnin sarrafawa (0x55)	20ms	Babu
ID na umarni	0 x01
Tsawon filin bayanai	6
Matsayi	Aiki	Nau'in bayanai	Bayani 0x00 Yanayin sarrafawa mai nisa
byte [0]	Yanayin sarrafawa	ba sa hannu int8	0x01 CAN Yanayin sarrafa umarni[1] 0x02 Yanayin sarrafa tashar tashar jiragen ruwa Duba bayanin kula 2 don cikakkun bayanai*
byte [1]	Rashin nasarar share umarnin	ba sa hannu int8	Matsakaicin gudun 1.5m/s, kewayon ƙimar (-100, 100)
byte [2]	Kashi na saurin layitage	sanya hannu int8	Matsakaicin gudun 0.7853rad/s, kewayon ƙimar (-100, 100)
byte [3]	Kashi na saurin kusurwatage	sanya hannu int8	0x01 0x00 Yanayin sarrafawa na nesa CAN yanayin sarrafa umarni[1] 0x02 Yanayin sarrafa tashar jiragen ruwa na Serial Duba bayanin kula 2 don cikakkun bayanai*
byte [4]	Ajiye	–	0 x00
byte [5]	Ajiye	–	0 x00

Firam na bayanin tuƙi mai lamba 1

Sunan Umurni	No.1 Firam ɗin Bayanin Tushen Mota
Aika kumburi	Karɓar kumburi	Zagaye (ms)	Lokacin karɓa (ms)
Tsawon siti-by-waya chassis Frame Nau'in umarni	Naúrar sarrafa yanke shawara 0x0A Umarnin mayar da martani (0xAA)	20ms	Babu
ID na umarni	0 x03
Tsawon filin bayanai	6
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0] byte [1]	No.1 tuƙi na yanzu mafi girma 8 bits No.1 tuƙi na yanzu ƙananan 8 bits	ba sa hannu int16	Ainihin X 10 na yanzu (tare da daidaito na 0.1A)
byte [2] byte [3]	Gudun juzu'i na lamba 1 mafi girma 8 bits Na'urar tuƙi mai jujjuyawar ƙananan raƙuman ruwa 1	sanya hannu int16	Ainihin saurin shaft ɗin mota (RPM)
byte [4]	No.1 Hard disk (HDD) zafin jiki	sanya hannu int8	Ainihin zafin jiki (tare da daidaito na 1 ℃)
byte [5]	Ajiye	—	0 x00

Firam na bayanin tuƙi mai lamba 2

Sunan Umurni	No.2 Firam ɗin Bayanin Tushen Mota
Aika kumburi	Karɓar kumburi	Zagaye (ms)	Lokacin karɓa (ms)
Tsawon siti-by-waya chassis Frame Nau'in umarni	Naúrar sarrafa yanke shawara 0x0A Umarnin mayar da martani (0xAA)	20ms	Babu
ID na umarni	0 x04
Tsawon filin bayanai	6
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0] byte [1]	No.2 tuƙi na yanzu mafi girma 8 bits No.2 tuƙi na yanzu ƙananan 8 bits	ba sa hannu int16	Ainihin X 10 na yanzu (tare da daidaito na 0.1A)
byte [2] byte [3]	Gudun juzu'i na lamba 2 mafi girma 8 bits Na'urar tuƙi mai jujjuyawar ƙananan raƙuman ruwa 2	sanya hannu int16	Ainihin saurin shaft ɗin mota (RPM)
byte [4]	No.2 Hard disk (HDD) zafin jiki	sanya hannu int8	Ainihin zafin jiki (tare da daidaito na 1 ℃)
byte [5]	Ajiye	—	0 x00

Firam ɗin sarrafa haske

Sunan Umurnin Tsarin Gudanar da Haske
Aika kumburi	Karɓar kumburi	Zagaye (ms)	Lokacin karɓa (ms)
Naúrar sarrafa yanke shawara Tsawon firam Nau'in umarni	Kullin Chassis 0x0A Umurnin sarrafawa (0x55)	20ms	500ms
ID na umarni	0 x02
Tsawon filin bayanai	6
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0]	Ikon haske yana kunna tuta	ba sa hannu int8	Umarnin sarrafawa 0x00 ba shi da inganci 0x01 ikon sarrafa hasken wuta
byte [1]	Yanayin haske na gaba	ba sa hannu int8	0x010 NOC 0x03 Us0exr-0d2eBfiLnemdobdreightness
byte [2]	Hasken al'ada na hasken gaba	ba sa hannu int8	[0, 100]r,ewfehresrteo0mreafxeimrsutomnboribgrhigtnhetnssess, 0x00 NC
byte [3]	Yanayin hasken baya	ba sa hannu int8   ba sa hannu int8	0x01 ba Yanayin 0x03 0x02 BL Hasken da aka ayyana mai amfani [0,], inda 0 ke nufin babu haske,
byte [4]	Hasken al'ada na hasken baya		100 yana nufin iyakar haske
byte [5]	Ajiye	—	0 x00

Firam ɗin sarrafa haske

Sunan Umurnin Firam ɗin Kula da Hasken Haske
Aika kumburi	Karɓar kumburi	Zagaye (ms)	Lokacin karɓa (ms)
Chassis ta hanyar waya Nau'in umarnin tsayin firam	Naúrar sarrafa yanke shawara 0x0A Umarnin mayar da martani (0xAA)	20ms	Babu
ID na umarni	0 x07
Tsawon filin bayanai	6
Matsayi	Aiki	Nau'in bayanai	Bayani
byte [0]	Ikon haske na yanzu yana kunna tuta	ba sa hannu int8	Umarnin sarrafawa 0x00 ba shi da inganci 0x01 ikon sarrafa hasken wuta
byte [1]	Yanayin haske na gaba na yanzu	ba sa hannu int8	0 x00 NC 0x01 ba Yanayin 0x02 BL 0x03 An bayyana haske mai amfani [0,], inda 0 ke nufin babu haske,
byte [2]	Hasken al'ada na yanzu na hasken gaba	ba sa hannu int8	100 yana nufin iyakar haske
byte [3]	Yanayin hasken baya na yanzu	ba sa hannu int8   ba sa hannu int8	0 x00 NC 0x01 ba Yanayin 0x02 BL [0, 0x03 Haƙiƙanin mai amfani, ], inda 0 ke nufin t babu haske
byte [4] byte [5]	Hasken al'ada na yanzu na hasken baya Ajiye	—	100 yana nufin m0ax0im0 um haske

Exampda data
Ana sarrafa chassis don ci gaba a saurin mizani na 0.15m/s, daga inda aka nuna takamaiman bayanai kamar haka.

Fara kadan		Flernamgthe	Comtympeand	ComImDand	Filin bayanai			ID Frame	cCohmepcokismion
baiti 1	baiti 2	baiti 3	baiti 4	baiti 5	baiti 6	….	baiti 6+n	baiti 7+n	baiti 8+n
0x5A	0xA5 ku	0x0A	0 x55	0 x01	….	….	….	0 x00	0x6B

Ana nuna abun cikin filin bayanai kamar haka:

Dukkanin layin bayanai shine: 5A A5 0A 55 01 02 00 0A 00 00 00 00 6B

Serial dangane
Fitar da kebul na USB-zuwa-RS232 daga kayan aikin sadarwar mu don haɗa shi zuwa tashar tashar jiragen ruwa a ƙarshen baya. Sannan, yi amfani da kayan aikin tashar tashar jiragen ruwa don saita ƙimar baud daidai, kuma gudanar da gwajin tare da tsohonample kwanan wata bayar a sama. Idan mai watsa RC yana kunne, yana buƙatar canzawa zuwa yanayin sarrafa umarni; idan mai watsa RC yana kashe, aika umarnin sarrafawa kai tsaye. Ya kamata a lura cewa, dole ne a aika da umarnin lokaci-lokaci, domin idan chassis bai karɓi umarnin tashar tashar jiragen ruwa ba bayan 500ms, zai shigar da matsayin kariya da aka cire.

Abubuwan haɓakawa na firmware
Masu amfani za su iya amfani da tashar jiragen ruwa na RS232 akan TRACER don haɓaka firmware don babban mai sarrafawa don samun bugfixes da haɓaka fasalin fasali. Ana ba da aikace-aikacen abokin ciniki na PC tare da ƙirar mai amfani da hoto don taimakawa aiwatar da haɓakawa cikin sauri da santsi. Ana nuna hoton wannan aikace-aikacen a hoto 3.3.

Haɓaka shiri

• Serial Cable X 1
• USB-zuwa-serial tashar jiragen ruwa X 1
• TRACER chassis X 1
• Computer (Windows OS) X 1

Firmware sabunta software
https://github.com/agilexrobotics/agilex_firmware

Hanyar haɓakawa

• Kafin haɗi, tabbatar da an kashe chassis na robot;
• Haɗa kebul ɗin serial zuwa tashar tashar jiragen ruwa a ƙarshen ƙarshen TRACER chassis;
• Haɗa kebul na serial zuwa kwamfuta;
• Bude software na abokin ciniki;
• Zaɓi lambar tashar jiragen ruwa;
• Powerarfin TRACER chassis, kuma nan da nan danna don fara haɗi (TRACER chassis zai jira 6s kafin kunnawa; idan lokacin jira ya wuce 6s, zai shigar da aikace-aikacen); idan haɗin ya yi nasara, "haɗin nasara" za a sa a cikin akwatin rubutu;
• Load Bin file;
• Danna maɓallin Haɓakawa, kuma jira saurin haɓaka haɓakawa;
• Cire haɗin kebul na serial, kashe chassis, sa'an nan kuma sake kunna wutar.

Interface Abokin Ciniki na Haɓaka Firmware

Matakan kariya

Wannan sashe ya ƙunshi wasu tsare-tsare waɗanda ya kamata a kula da su don amfanin TRACER da haɓakawa.

Baturi

• Baturin da aka kawo tare da TRACER ba a cika cajin sa ba a saitin masana'anta, amma takamaiman ƙarfin ƙarfinsa na iya nunawa akan voltmeter a ƙarshen TRACER chassis ko karanta ta hanyar sadarwar bas ta CAN. Ana iya dakatar da cajin baturi lokacin da koren LED akan cajar ya juya kore. Lura cewa idan ka ci gaba da haɗa caja bayan koren LED ya kunna, caja zai ci gaba da cajin baturin tare da kusan 0.1A halin yanzu na kusan mintuna 30 don samun cikakken cajin baturin.
• Don Allah kar a yi cajin baturin bayan ƙarfinsa ya ƙare, kuma da fatan za a yi cajin baturin a lokacin da ƙaramar matakin baturi ke kunne;
• Yanayin ajiya a tsaye: Mafi kyawun zafin jiki don ajiyar baturi shine -20 ℃ zuwa 60 ℃; Idan akwai ajiya don babu amfani, baturi dole ne a sake caji kuma a fitar da shi sau ɗaya kusan kowane watanni 2, sannan a adana shi cikin cikakken vol.tage state. Don Allah kar a sanya baturin a wuta ko zafi baturin, kuma don Allah kar a adana baturin a yanayin zafi mai zafi;
• Cajin: Dole ne a yi cajin baturin tare da keɓaɓɓen cajar baturin lithium; Ba za a iya cajin batirin lithium-ion ƙasa da 0°C (32°F) ba kuma an hana gyaggyarawa ko musanya ainihin batura.

Ƙarin shawarwarin aminci

• Idan akwai shakku yayin amfani, da fatan za a bi jagorar koyarwa mai alaƙa ko tuntuɓi ma'aikatan fasaha masu alaƙa;
• Kafin amfani, kula da yanayin filin, kuma kauce wa rashin aiki wanda zai haifar da matsalar lafiyar ma'aikata;
• Idan akwai gaggawa, danna maɓallin dakatar da gaggawa kuma kashe kayan aiki;
• Ba tare da goyan bayan fasaha da izini ba, don Allah kar a gyara tsarin kayan aiki na ciki da kanka

Yanayin aiki

• Yanayin zafin aiki na TRACER a waje shine -10 ℃ zuwa 45 ℃; don Allah kar a yi amfani da shi ƙasa -10 ℃ da sama da 45 ℃ a waje;
• Yanayin zafin aiki na TRACER a cikin gida shine 0 ℃ zuwa 42 ℃; don Allah kar a yi amfani da shi a ƙasa 0 ℃ da sama da 42 ℃ a cikin gida;
• Abubuwan buƙatun don yanayin zafi a cikin yanayin amfani na TRACER sune: matsakaicin 80%, mafi ƙarancin 30%;
• Don Allah kar a yi amfani da shi a cikin mahalli tare da iskar gas masu lalata da flammable ko rufe ga abubuwa masu ƙonewa;
• Kar a sanya shi kusa da na'urori masu dumama ko abubuwan dumama kamar manyan juzu'i na nadi, da sauransu;
• Sai dai sigar musamman na musamman (ajin kariyar IP da aka keɓance), TRACER ba ta da ruwa, don haka kar a yi amfani da shi a cikin ruwan sama, dusar ƙanƙara ko wurin tara ruwa;
• Girman yanayin amfani da aka ba da shawarar kada ya wuce mita 1,000;
• Bambancin zafin jiki tsakanin dare da rana na yanayin amfani da shawarar kada ya wuce 25 ℃;

Wutar lantarki/tsawo

• Lokacin sarrafawa da saitawa, don Allah kar a faɗi ko sanya abin hawa a kife;
• Ga waɗanda ba ƙwararru ba, don Allah kar a harhada abin hawa ba tare da izini ba.

Sauran bayanin kula

• Lokacin sarrafawa da saitawa, don Allah kar a faɗi ko sanya abin hawa a kife;
• Ga waɗanda ba ƙwararru ba, don Allah kar a harhada abin hawa ba tare da izini ba

Tambaya&A

• Tambaya: An fara TRACER daidai, amma me ya sa mai watsa RC ba zai iya sarrafa jikin abin hawa don motsawa ba?
  A: Na farko, duba ko mai ba da wutar lantarki yana cikin yanayin al'ada, ko an danna maɓallin wutar lantarki da kuma ko an saki masu sauyawa na E-Stop; sannan, duba ko yanayin sarrafawa da aka zaɓa tare da maɓallin zaɓin zaɓi na saman hagu akan mai watsa RC daidai ne.
• Tambaya: TRACER ramut yana cikin yanayin al'ada, kuma ana iya karɓar bayanin game da matsayin chassis da motsi daidai, amma lokacin da aka ba da ka'idar firam ɗin sarrafawa, me yasa ba za a iya canza yanayin sarrafa jikin abin hawa ba kuma chassis ɗin ya ba da amsa ga ka'idar firam ɗin sarrafawa. ?
  A: A al'ada, idan TRACER na iya sarrafa shi ta hanyar mai watsa RC, yana nufin motsin chassis yana ƙarƙashin kulawa mai kyau; idan za a iya karɓar firam ɗin ra'ayi na chassis, yana nufin CAN tsawaita hanyar haɗin gwiwa yana cikin yanayin al'ada. Da fatan za a duba firam ɗin sarrafawa na CAN da aka aiko don ganin ko binciken bayanan daidai ne kuma ko yanayin sarrafawa yana cikin yanayin sarrafa umarni.
• Tambaya: TRACER yana ba da sautin “beep-beep-beep…” a cikin aiki, ta yaya za a magance wannan matsalar?
  A: Idan TRACER ya ba da wannan "beep-beep-beep" sautin ci gaba, yana nufin baturin yana cikin ƙararrawa.tage state. Da fatan za a yi cajin baturin cikin lokaci. Da zarar wasu sauti masu alaƙa sun faru, ana iya samun kurakurai na ciki. Kuna iya bincika lambobin kuskure masu alaƙa ta hanyar bas ɗin CAN ko sadarwa tare da ma'aikatan fasaha masu alaƙa.
• Tambaya: Lokacin da aka aiwatar da sadarwa ta hanyar bas ɗin CAN, ana ba da umarnin amsa chassis daidai, amma me yasa motar ba ta amsa umarnin sarrafawa?
  A: Akwai hanyar kariya ta sadarwa a cikin TRACER, wanda ke nufin ana samar da chassis tare da kariya ta lokacin aiki lokacin sarrafa umarnin sarrafa CAN na waje. A ce abin hawa ya karɓi firam guda ɗaya na ƙa'idar sadarwa, amma ba ta karɓar umarnin sarrafawa na gaba bayan 500ms. A wannan yanayin, zai shiga yanayin kariyar sadarwa kuma ya saita saurin zuwa 0. Don haka, umarni daga babbar kwamfuta dole ne a ba da lokaci-lokaci.

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TRACER AgileX Robotics Team Robot Mobile mai cin gashin kanta [pdf] Manual mai amfani Ƙungiyar Robotics ta AgileX Robot Wayar hannu, AgileX, Robotics Team Robot Wayar hannu, Robot mai sarrafa kansa, Robot ta hannu

Magana

• Manual mai amfani