Gulu la Hunter AgileX Robotic
“
Zambiri Zamalonda
Zofotokozera
- Dzina lazogulitsa: BUNKER PRO AgileX Robotic Team
- Buku Lomasulira: V.2.0.1
- Mtundu Wolemba: 2023.09
- Kulemera Kwambiri: 120KG
- Kutentha kwa Ntchito: -20°C mpaka 60°C
- Mulingo wa Chitetezo cha IP: IP66 (ngati sichinasinthidwe)
Malangizo Ogwiritsira Ntchito Zogulitsa
Zambiri Zachitetezo
Musanagwiritse ntchito loboti, onetsetsani kuti mwawerenga ndikumvetsetsa chitetezo chonse
zambiri zomwe zaperekedwa mu bukhuli. Chitani chiwopsezo cha
dongosolo lathunthu la robot ndikulumikiza zida zotetezera zofunika.
Dziwani kuti loboti ilibe chitetezo chokwanira
ntchito.
Chilengedwe
Werengani bukuli mosamala musanagwiritse ntchito koyamba kuti mumvetse
ntchito zofunika ndi specifications. Sankhani malo otseguka akutali
kuwongolera ngati galimoto ilibe zodziwikiratu zopewera zotchinga.
Imagwira ntchito pa kutentha kwapakati pa -20°C mpaka 60°C.
Onani
Musanagwire ntchito, onetsetsani kuti zida zonse zalipira komanso zili bwino
chikhalidwe. Yang'anani zolakwika m'galimoto ndi kutali
kuwongolera batire. Tulutsani choyimitsa chadzidzidzi musanagwiritse ntchito.
Ntchito
Gwirani ntchito m'malo otseguka mkati mwa mzere wowonekera. Osapitirira the
malire olemetsa kwambiri ndi 120KG. Onetsetsani kuti pakati pa misa ndi pa
pakati pa kuzungulira pakuyika zowonjezera. Kulipiritsa zida
pamene voltage imatsika pansi pa 48V ndikusiya kugwiritsa ntchito nthawi yomweyo ngati
zachilendo zizindikirika.
FAQ
Q: Ndiyenera kuchita chiyani ndikakumana ndi vuto ndikugwiritsa ntchito
ndi BUNKER PRO?
A: Siyani kugwiritsa ntchito zida nthawi yomweyo kuti mupewe zachiwiri
kuwonongeka. Lumikizanani ndi akatswiri oyenerera kuti akuthandizeni.
Q: Kodi BUNKER PRO ingapewe zopinga zokha?
A: Ayi, galimotoyo ilibe chopinga chodziwikiratu
kupewa masensa. Gwirani ntchito m'malo otseguka ndi akutali
kulamulira.
"``
BUNKER
PRO
Wogwiritsa
Pamanja
BUNKER
Wogwiritsa Ntchito Gulu la AgileX Robotic Team
Buku V.2.0.1
2023.09
Chikalata
Baibulo
Ayi. Version
Tsiku
Adasinthidwa ndi
Reviewer
Zolemba
1
1.0.0/2023/3
chikalata choyamba
2
2.0.0/2023/09
Onjezani chithunzithunzi Sinthani momwe mungagwiritsire ntchito phukusi la ROS
Kuwona zolemba
1/35
3
2.0.1/2023/09
Mndandanda wolumikizidwa wamagalimoto amtundu Wowonjezera tebulo 3.2 Zolakwika
tebulo lofotokozera
Mutuwu uli ndi mfundo zofunika kwambiri zokhudza chitetezo, loboti isanayambe kuyatsidwa kwa nthawi yoyamba, munthu aliyense kapena bungwe liyenera kuwerenga ndi kumvetsa izi musanagwiritse ntchito chipangizocho. Ngati muli ndi mafunso okhudza kugwiritsa ntchito, chonde titumizireni ku support@agilex.ai. Chonde tsatirani ndikutsatira malangizo onse a msonkhano ndi malangizo omwe ali m'mitu ya bukhuli, zomwe ndi zofunika kwambiri. Chisamaliro chapadera chiyenera kuperekedwa ku malemba okhudzana ndi zizindikiro zochenjeza.
Zofunika
Chitetezo
Zambiri
Zomwe zili m'bukuli sizikuphatikiza kupanga, kukhazikitsa ndi kugwiritsa ntchito pulogalamu yathunthu ya robot, komanso sizikuphatikizapo zotumphukira zonse zomwe zingakhudze chitetezo cha dongosolo lonseli. Kupanga ndi kugwiritsa ntchito dongosolo lathunthu liyenera kutsata zofunikira zachitetezo zomwe zimakhazikitsidwa mumiyezo ndi malamulo adziko lomwe loboti imayikidwa. Ophatikiza ndi makasitomala otsiriza a BUNKERPRO ali ndi udindo woonetsetsa kuti akutsatira zofunikira ndi malamulo ndi malamulo othandiza, ndikuwonetsetsa kuti palibe zoopsa zazikulu pakugwiritsa ntchito roboti. Izi zikuphatikiza koma sizimangokhala:
Kuchita bwino
ndi
udindo
Pangani kuwunika kowopsa kwa dongosolo lathunthu la roboti. Lumikizani zida zowonjezera zachitetezo zamakina ena omwe amafotokozedwa ndi kuwunika kowopsa
pamodzi. Tsimikizirani kuti mapangidwe ndi kukhazikitsa kwa zotumphukira zonse zama robot, kuphatikiza
mapulogalamu ndi hardware machitidwe, ndi zolondola.
2/35
Loboti iyi ilibe chitetezo chokwanira cha robot yodziyimira yokha yodziyimira payokha, kuphatikiza koma yopanda malire yotsutsana ndi kugundana, kugwa, kuchenjeza kwa zolengedwa, ndi zina. ndi malamulo ndi malamulo omwe akugwiritsidwa ntchito kuti awonetsetse kuti robot yotukuka ilibe zoopsa zilizonse komanso zoopsa zobisika pakugwiritsa ntchito.
Sungani zikalata zonse muukadaulo file: kuphatikizapo kuwunika zoopsa ndi bukuli. Dziwani zoopsa zomwe zingachitike musanagwiritse ntchito ndi kugwiritsa ntchito zida.
Chilengedwe
Kuti mugwiritse ntchito koyamba, chonde werengani bukuli mosamala kuti mumvetsetse zomwe zikuchitika komanso momwe mungagwiritsire ntchito.
Sankhani malo otseguka kuti aziwongolera kutali, chifukwa galimotoyo ilibe zodziwikiratu zopewera zopinga.
Ntchito yozungulira kutentha kwa -20-60. Ngati galimotoyo siisintha payekhapayekha mulingo wa chitetezo cha IP, sungani madzi komanso fumbi-
mphamvu ya umboni ndi IP66.
Onani
Onetsetsani kuti chida chilichonse chili ndi mtengo wokwanira. Onetsetsani kuti galimoto ilibe zolakwika zoonekeratu. Onani ngati batire ya chowongolera chakutali ili ndi mtengo wokwanira. Onetsetsani kuti chosinthira choyimitsa mwadzidzidzi chatulutsidwa mukamagwiritsa ntchito.
Ntchito
Onetsetsani kuti malo ozungulira ndi otseguka panthawi yogwira ntchito. Kuwongolera kutali mkati mwa mzere wowonera. Kulemera kwakukulu kwa BUNKERPRO ndi 120KG. Mukagwiritsidwa ntchito, onetsetsani kuti ndalamazo sizikulipira
kuposa 120KG. Mukakhazikitsa chowonjezera chakunja cha BUNKERPRO, tsimikizirani pakati pa misa ya
kuwonjezera ndikuwonetsetsa kuti ili pakati pa kuzungulira. Pamene zida za voltage ndi yotsika kuposa 48V, chonde imbani nthawi. Zida zikakhala zachilendo, chonde siyani kugwiritsa ntchito nthawi yomweyo kuti mupewe kuwonongeka kwachiwiri. Pamene zida ndi zachilendo, chonde lemberani ogwira ntchito zaluso ndipo musatero
gwirani popanda chilolezo.
3/35
Chonde igwiritseni ntchito m'malo omwe amakwaniritsa zofunikira pamlingo wachitetezo molingana ndi mulingo wachitetezo cha IP cha zida.
Osamukankhira galimoto mwachindunji. Mukamachajitsa, onetsetsani kuti kutentha kwapafupi ndi 0°C.
Kusamalira
Yang'anani pafupipafupi kulimba kwa njanji yoyimitsidwa, ndikumangitsa njanji pa 150~200H iliyonse. Pambuyo pa maola 500 aliwonse akugwira ntchito, yang'anani mabawuti ndi mtedza wa gawo lililonse la thupi. Ine Mangitsa
nthawi yomweyo ngati amasuka. Pofuna kuonetsetsa kuti batire ili ndi mphamvu yosungira, batire iyenera kusungidwa ndi charger,
ndipo batire liyenera kulipiritsidwa pafupipafupi ngati silikugwiritsidwa ntchito kwa nthawi yayitali.
Chidwi
Gawoli lili ndi njira zopewera kugwiritsa ntchito ndikupanga BUNKERPRO.
Batiri
kusamalitsa
BUNKERPRO ikachoka kufakitale, batire silimangika mokwanira. Mphamvu yeniyeni ya batri imatha kuwonetsedwa kudzera mu voltage kuwonetsera mita pa BUNKERPRO chassis kumbuyo kapena werengani kudzera pa CAN bus communication interface;
Chonde musalipitse batire mphamvu yake ikatha. Chonde yonjezerani panthawi yomwe mphamvu yotsikatage pa BUNKERPRO kumbuyo ndi otsika kuposa 48V;
Zosungirako zosasunthika: Kutentha kwabwino kwa batri ndi -10 ° C ~ 45 ° C; ngati yasungidwa osagwiritsidwa ntchito, batire liyenera kuwonjezeredwa ndikutulutsidwa kamodzi pafupifupi mwezi wa 1 uliwonse, kenako ndikusungidwa mu voliyumu yonse.tagndi state. Chonde musayike batire pamoto kapena kutentha batire, ndipo chonde musasunge batire pamalo otentha kwambiri;
Kulipiritsa: Batire liyenera kulipiritsidwa ndi charger yodzipereka ya lithiamu. Osatchaja batire yochepera 0 ° C, ndipo musagwiritse ntchito mabatire, zida zamagetsi, ndi ma charger omwe sali oyenera.
Kusamalitsa
za
zogwira ntchito
chilengedwe
Kutentha kwa ntchito ya BUNKERPRO ndi - 20 ~ 60; chonde musagwiritse ntchito m'malo omwe kutentha kumakhala kotsika kuposa -20 kapena kuposa 60;
4/35
Zomwe zimafunikira chinyezi chamalo ogwirira ntchito a BUNKERPRO ndi: pazipita 80%, osachepera 30%; Chonde musachigwiritse ntchito m'malo omwe ali ndi mpweya woyaka komanso woyaka kapena pafupi ndi zinthu zomwe zimatha kuyaka;
Osachisunga mozungulira zinthu zotenthetsera monga zotenthetsera kapena zopinga zazikulu zophimbidwa; Kupatula mtundu wosinthidwa mwapadera (wosinthidwa ndi IP chitetezo), BUNKER PRO
ilibe madzi, kotero chonde musaigwiritse ntchito m'malo okhala ndi mvula, matalala, kapena madzi oyimirira; Ndibwino kuti kutalika kwa malo ogwirira ntchito sayenera kupitirira 1000M; Ndi bwino kuti kutentha kusiyana usana ndi usiku ntchito
kutentha sikuyenera kupitirira 25 ° C; Yang'anani nthawi zonse ndikusunga gudumu lolimba la njanji.
Kusamalitsa
za
zamagetsi
zakunja
Mphamvu yamagetsi yakumbuyo yakumbuyo sayenera kupitilira 10A, ndipo mphamvu yonse sayenera kupitilira 480W;
Chitetezo
kusamalitsa
Ngati mukukayika mukamagwiritsa ntchito, chonde tsatirani malangizo okhudzana nawo kapena funsani akatswiri okhudzana ndiukadaulo;
Musanagwiritse ntchito, samalani ndi momwe zinthu zilili m'munda, ndikupewa zolakwika zomwe zingayambitse vuto lachitetezo cha ogwira ntchito;
Pakakhala ngozi, dinani batani loyimitsa mwadzidzidzi ndikuzimitsa zida; Popanda thandizo laukadaulo ndi chilolezo, chonde musasinthe nokha zamkati
zida kapangidwe.
Zina
kusamalitsa
Musagwetse kapena kuyika galimoto mozondoka pamene mukunyamula ndi kuyimitsa; Kwa omwe si akatswiri, chonde musamasule galimotoyo popanda chilolezo.
ZAMKATI
5/35
ZAMKATI
Chikalata
Baibulo
Zofunika
Chitetezo
Zambiri
Chidwi
ZAMKATI
1
Mawu Oyamba
ku
Mtengo wa BUNKERPRO
1.1 Mndandanda wazinthu 1.2 Mafotokozedwe aukadaulo 1.3 Zofunikira pakukulitsa
2
The
Zoyambira
2.1Malangizo ophatikizika ndi magetsi 2.2 Malangizo pa zowongolera zakutali 2.3 Malangizo pazofunikira ndi kayendedwe
3
Gwiritsani ntchito
ndi
Chitukuko
3.1 Kugwiritsa ntchito ndi kugwiritsa ntchito 3.2 Kulipira 3.3.2 CAN chingwe cholumikizira 3.3.3 Kuzindikira kwa CAN command control 3.4 Firmware kukweza 3.5 BUNKERPRO ROS Phukusi Gwiritsani Ntchito Example
4
Q&A
5
Zogulitsa
Makulidwe
5.1 Chithunzi chojambula cha miyeso yazinthu
6/35
5.2 Chifaniziro cha miyeso yokulirapo yothandizira
1
Mawu Oyamba
ku
Mtengo wa BUNKERPRO
BUNKERPRO ndi galimoto yotsatiridwa ndi ma chassis omwe amagwiritsidwa ntchito pamakampani osiyanasiyana. Ili ndi mawonekedwe a ntchito yosavuta komanso yovuta, malo akuluakulu otukuka, oyenera kupititsa patsogolo ndi kugwiritsa ntchito m'madera osiyanasiyana, kuyimitsidwa kodziimira payekha, kuyamwa kwamphamvu kwambiri, kukwera kwamphamvu, ndi kutha kukwera masitepe. Ikhoza kugwiritsidwa ntchito popanga ma robot apadera monga ma robot kuti awonedwe ndi kufufuza, kupulumutsa ndi EOD, kuwombera kwapadera, mayendedwe apadera, etc., kuthetsa njira zothetsera ma robot.
1.1
Zogulitsa
mndandanda
Dzina BUNKER PRO Robot Body Battery Charger(AC 220V) Aviation male plug (4-Pin) FS remote control transmitter(Mwasankha) USB kupita ku CAN kulumikizana gawo
Kuchuluka x1 x1 x1 x1 x1
1.2
Zamakono
mfundo
Mitundu ya Parameters Makina amakina
Zinthu L × W × H (mm)
Magudumu (mm)
Mtengo wa 1064*845*473
–
7/35
Mawilo akutsogolo/kumbuyo (mm)
–
Kutalika kwa chassis
120
Tsatani m'lifupi
150
Kulemera kwake (kg)
180
Mtundu Wabatiri
Batire ya lithiamu
Zigawo za batri
60H pa
Mphamvu yoyendetsa galimoto
2 × 1500W Brushless servo mota
Chiwongolero choyendetsa galimoto
–
Makina oyimitsa magalimoto
–
Chiwongolero
Chiwongolero chamitundu yosiyanasiyana
Fomu yoyimitsidwa
Christie kuyimitsidwa + Matilda fourwheel balance kuyimitsidwa
Kuchepetsa chiwongolero chagalimoto
–
chiŵerengero
Chiwongolero cha ma encoder Drive mota kuchepetsa chiŵerengero
–
1 7.5
Chotsani sensor yamoto
Photoelectric increment 2500
Magwiridwe magawo
IP kalasi
IP22
Liwiro lalikulu (km/h)
1.7m/s
Malo otembenukira pang'ono (mm)
Ikhoza kutembenuka m'malo
Kuthekera kwakukulu (°)
30°
Kuwoloka kwakukulu kolepheretsa
180
8/35
Kulamulira
Kuloledwa pansi (mm) Kuchuluka kwa batri (h) Mtunda wochuluka (km)
Nthawi yolipira (h) Kutentha kwa ntchito ()
Control mode
RC transmitter System mawonekedwe
740 8
15KM 4.5
-10 ~ 60 Remote Control Control Control mode 2.4G / kutali kwambiri 200M
CAN
1.3
Chofunikira
za
chitukuko
BUNKERPRO ili ndi FS yoyang'anira kutali pafakitale, ndipo ogwiritsa ntchito amatha kuwongolera BUNKERPRO mobile robot chassis kudzera pakutali kuti amalize kuyenda ndi kuzungulira; BUNKERPRO ili ndi mawonekedwe a CAN, ndipo ogwiritsa ntchito amatha kuchita chitukuko chachiwiri kudzeramo.
2
The
Zoyambira
Gawoli lipereka chidziwitso choyambirira cha BUNKERPRO chassis ya loboti yam'manja, kuti ogwiritsa ntchito ndi opanga athe kumvetsetsa za BUNKERPRO chassis.
2.1 Malangizo
on
zamagetsi
mawonekedwe
9/35
Kumbuyo kwa magetsi olumikizirana kukuwonetsedwa mu Chithunzi 2.1, pomwe Q1 ndi mawonekedwe a CAN ndi 48V mphamvu yandege, Q2 ndi chosinthira mphamvu, Q3 ndi mawonekedwe amalipiritsa, Q4 ndi mlongoti, Q5 ndi Q6 motsatana ndi mawonekedwe oyendetsa dalaivala komanso chachikulu. kuwongolera mawonekedwe owongolera (osatsegulidwa kunja), ndipo Q7 ndiye kuyanjana kowonetsera mphamvu.
Chithunzi 2.1 Zolumikizira Zamagetsi Zam'mbuyo Tanthauzo la kulumikizana kwa Q1 ndi mawonekedwe amphamvu akuwonetsedwa mu Chithunzi 2-2.
Pin nambala 1
Pin Type Power
Ntchito ndi Tanthauzo
Ndemanga
Chithunzi cha VCC
Positive magetsi, voltagE osiyanasiyana 46 ~ 54V, pazipita panopa 10A
10/35
2
Mphamvu
3
CAN
4
CAN
GND CAN_H CAN_L
Magetsi opanda mphamvu CAN mabasi okwera CAN mabasi otsika
Chithunzi 2.2 Pin Tanthauzo la Chiyankhulo Chowonjezera Chakumbuyo cha Aviation
2.2
Malangizo
on
kutali
kulamulira
Fs remote control ndi chowonjezera chosankha pazinthu za BUNKER PRO. Makasitomala amatha kusankha malinga ndi zosowa zenizeni. Kugwiritsa ntchito chiwongolero chakutali kumatha kuwongolera mosavuta BUNKER PRO universal robot chassis. Pachida ichi, timagwiritsa ntchito kumanzere kwa throttle design. Tanthauzo lake ndi ntchito zake zitha kutumizidwa ku Chithunzi 2.3. Ntchito za mabatani amatanthauzidwa monga: SWA, SWB, SWC, SWD. SWD sinatsegulidwebe, pakati pawo SWB ndi batani losankha mawonekedwe owongolera, loyimbidwa pamwamba ndi njira yolamulira, yoyimbidwa pakati ndi njira yoyendetsera kutali, S1 ndi batani loyimitsa, imawongolera BUNKER PRO kuti ipite patsogolo komanso chakumbuyo; S2 imayang'anira kuzungulira, ndipo MPHAMVU ndi Mabatani amagetsi, dinani ndikuwagwira nthawi yomweyo kuti muyatse. Zindikirani kuti chowongolera chakutali chikayatsidwa, SWA, SWB, SWC, ndi SWD zonse ziyenera kukhala pamwamba.
11/35
Chithunzi 2.3 Schematic diagram ya FS remote control mabatani Akutali
kulamulira
mawonekedwe
Kufotokozera: Bunker: chitsanzo Vol: batire voltage Galimoto: mawonekedwe a chassis Batt: Chassis mphamvu peresentitage P: Park Remoter: mulingo wa batire wakutali Khodi Yolakwika: Zambiri zolakwika (Imayimira byte [5] mu 211 chimango)
12/35
2.3
Malangizo
on
kulamulira
zofuna
ndi
mayendedwe
Tidakhazikitsa njira yolumikizira magalimoto oyenda pansi molingana ndi muyezo wa ISO 8855 monga momwe tawonetsera pa Chithunzi 2.4.
Chithunzi 2.4 Schematic Diagram of Reference Coordinate System for Vehicle Body Monga momwe tawonetsera pa Chithunzi 2.4, thupi la galimoto la BUNKERPRO likufanana ndi X axis ya ndondomeko yokhazikitsidwa yogwirizanitsa. Mumayendedwe akutali, kanikizani chowongolera chakutali S1 kutsogolo kuti musunthire mbali yabwino ya X, kanikizani S1 kumbuyo kuti musunthire mbali yoyipa ya Mukakankhidwira pamtengo wocheperako, liwiro loyenda mbali yoyipa ya Galimotoyo. thupi limazungulira kuchokera ku njira yabwino ya X-axis kupita ku njira yolakwika ya Y-axis. S2 ikakankhidwira kumanzere kumtengo wokwera kwambiri, liwiro la mzere wozungulira wolozera ndilotalikirapo. S2 ikakankhidwira kumanja kumtengo wokwera kwambiri, kusuntha kozungulira kozungulira ndikothamanga kwambiri. Mu njira yolamulira yolamulira, mtengo wabwino wa liwiro la mzere umatanthawuza kusuntha njira yabwino ya X-axis, ndipo mtengo woipa wa liwiro la mzere umatanthauza kusuntha njira yolakwika ya The negative value of angular velocity zikutanthauza kuti thupi lagalimoto limasuntha kuchoka ku njira yabwino ya X-axis kupita ku njira yolakwika ya Y-axis.
3
Gwiritsani ntchito
ndi
Chitukuko
Gawoli makamaka limayambitsa ntchito yoyambira ndikugwiritsa ntchito nsanja ya BUNKERPRO, komanso momwe mungachitire chitukuko chachiwiri cha thupi lagalimoto kudzera mu mawonekedwe akunja a CAN ndi protocol ya CAN bus.
13/35
3.1
Gwiritsani ntchito
ndi
ntchito
Onani
Yang'anani momwe thupi lagalimoto lilili. Onani ngati galimotoyo ili ndi zolakwika zoonekeratu; ngati ndi choncho, chonde lemberani chithandizo pambuyo pa malonda;
Mukamagwiritsa ntchito koyamba, tsimikizirani ngati Q2 (switch switch) mu gulu lamagetsi lakumbuyo likukanikizidwa; ngati sichikanikizidwa, chonde kanikizani ndikuchimasula, ndiye kuti chili mumkhalidwe wotulutsidwa.
Yambitsani
Dinani chosinthira mphamvu (Q2 mu gulu lamagetsi); muzochitika zabwinobwino, kuwala kwa chosinthira mphamvu kumawunikira, ndipo voltmeter iwonetsa batire voltagndi bwino;
Onani mphamvu ya batritage. Ngati voltage ndi wamkulu kuposa 48V, zikutanthauza kuti batire voltage ndi wabwinobwino. Ngati voltage ndi otsika kuposa 48V, chonde limbani; pamene voltage ndi yotsika kuposa 46V, BUNKERPRO singasunthe bwino.
Tsekani
Dinani chosinthira mphamvu kuti mudule mphamvu;
Basic
ogwira ntchito
ndondomeko
of
kutali
kulamulira
Mutayambitsa BUNKERPRO robot chassis kawirikawiri, yambani kuwongolera kwakutali ndikusankha njira yoyendetsera kutali kuti muwongolere kuyenda kwa nsanja ya BUNKER PRO kudzera pakutali.
3.2
Kulipira
BUNKERPRO ili ndi charger yokhazikika mosakhazikika, yomwe imatha kukwaniritsa zosowa za makasitomala. The
mwachindunji
ogwira ntchito
ndondomeko
of
kulipiritsa
ndi
as
kutsatira: Onetsetsani kuti chassis ya BUNKERPRO ili pamalo otseka. Musanapereke, chonde pangani
onetsetsani kuti Q2 (kusintha kwamagetsi) kumbuyo kwamagetsi kumazimitsidwa; lowetsani pulagi ya charger mu mawonekedwe a Q3 charging pagawo lakumbuyo lamagetsi; Lumikizani chojambulira kumagetsi ndikuyatsa chosinthira cha charger kuti mulowe m'malo ochapira. Mukamalipira mwachisawawa, palibe kuwala kowonetsa pa chassis. Kaya ikulipira kapena ayi zimatengera chizindikiro cha charger.
3.3
Chitukuko
14/35
BUNKERPRO imapereka mawonekedwe a CAN pakukula kwa wogwiritsa ntchito, ndipo wogwiritsa ntchito amatha kuwongolera thupi lagalimoto kudzera mu mawonekedwe awa.
Mulingo wolumikizirana wa CAN ku BUNKERPRO utengera muyezo wa CAN2.0B; kuchuluka kwa baud yolumikizirana ndi 500K, ndipo mawonekedwe a uthenga amatengera mtundu wa MOTOROLA. Kuthamanga kwa mzere wa kayendetsedwe ka kayendetsedwe ka kayendedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kawiri kayendetsedwe ka kayendetsedwe ka kayendetsedwe kakenimwekenimwemwemwemwe Aubu kwabo ngu ngu ngundu ngundundu ngenxanganisimasimasimawulidwe kachitidwe kachitidwe kachitidwe kachitidwe kabwino kachitidwe kazikhala kovomerezeka ndi yoyenera kuyendetsedwa kudzera pamayendedwe akunja a CAN basi; BUNKERPRO iyankha zomwe zikuchitika panopo komanso mbiri ya BUNKERPRO chassis munthawi yeniyeni.
Protocol imaphatikizapo mawonekedwe amayendedwe adongosolo, mawonekedwe owongolera mayendedwe, ndi mawonekedwe owongolera. Zomwe zili mu protocol ndi izi:
Lamulo loyankhira pamiyezo yamakina limaphatikizaponso momwe galimoto ilili pano, kuyankha pamayendedwe owongolera, kuchuluka kwa batritage ndemanga, ndi ndemanga zolakwika. Zomwe zili mu protocol zikuwonetsedwa mu Table 3.1.
Table 3.1 Feedback Frame of BUNKERPRO Chassis System Status
Dzina Lamulo
Malangizo a kachitidwe kachitidwe
Kutumiza mfundo Kulandira mfundo
Chiwongolero-ndi-waya chassis
Chigawo chowongolera zisankho
ID 0x211
kuzungulira (ms)
Landirani nthawi yatha (ms)
200ms
Palibe
Deta kutalika Position
0x08 ntchito
Mtundu wa data
bati [0]
Mkhalidwe wamakono wa galimoto
osasainidwa int8
Kufotokozera
0x00 System mumayendedwe abwinobwino 0x01 Emergency stop mode 0x02 Kupatulapo kachitidwe
15/35
bati [1] bati [2] bati [3] bati [4] bati [5] bati [6] bati [7] bati [5]
Kuwongolera mode
Mphamvu ya batri voltage ndi 8 bits m'mwamba Mphamvu ya batritage ndi ma bits asanu ndi atatu kutsika Osungidwa
Zolephera Zambiri Zasungidwa
Kuwerengera (kuwerengera)
osasainidwa int8
osasainidwa int16
osasainidwa int8
osasainidwa int8
0x00 Standby mode 0x01 CAN command control mode
0x03 Remote control mode
Voltage × 10 (ndi kulondola kwa 0.1V)
0x0 Onani ku [Mafotokozedwe a Cholakwa
Zambiri] 0X00
0 ~ 255 chiwerengero cha kuzungulira; nthawi zonse malangizo atumizidwa,
chiwerengero chidzawonjezeka kamodzi
Table 3.2 Kufotokozera za Zolakwa
Kufotokozera kwa Zolakwa Zambiri
Pang'ono
Tanthauzo
pang'ono [0]
Battery ili pansitagndi cholakwika
pang'ono [1]
Battery ili pansitagndi chenjezo
pang'ono [2]
Kutetezedwa kwakutali kwakutali (0: yachilendo, 1: kulumikizidwa kwakutali)
pang'ono [3]
No.1 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera)
pang'ono [4]
No.2 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera)
16/35
pang'ono [5] pang'ono [6] pang'ono [7]
Zosungidwa, zosasinthika 0 Zosungidwa, zosasinthika 0 Zosungidwa, zosasinthika 0
Lamulo la kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake Zomwe zili mu protocol zikuwonetsedwa mu Table 3.3.
Table 3.3 Movement Control Feedback Frame
Dzina Lamulo
Movement Control Feedback Command
Kutumiza mfundo Kulandira mfundo
ID
Kuzungulira ms
Landirani nthawi yatha (ms)
Chiwongolero-ndi-waya chassis
Chigawo chowongolera zisankho
0x221 pa
20ms
Palibe
Kutalika kwa data
0x08 pa
Udindo
Ntchito
Mtundu wa data
Kufotokozera
bati [0] bati [1]
8-bit kuthamanga kwambiri
8-bit otsika kuthamanga liwiro
adasainira int16
Liwiro lenileni × 1000 (ndi kulondola kwa 0.001m/s)
bati [2] bati [3]
8-bit kuthamanga kwambiri kozungulira
8-bit otsika kasinthasintha liwiro
adasainira int16
Liwiro lenileni × 1000 (ndi kulondola kwa 0.001rad/s)
bati [4]
Zosungidwa
–
0x00 pa
bati [5]
Zosungidwa
–
0x00 pa
17/35
bati [6]
Zosungidwa
–
bati [7]
Zosungidwa
–
0x00 0x00
Chigawo chowongolera chimaphatikizapo kutsegulidwa kwa liwiro la liwiro, kutsegulira koyang'anira liwiro la angular ndikuwona kuchuluka. Zomwe zili mu protocol zikuwonetsedwa mu Table 3.4.
Table 3.4 Movement Control Frame
Dzina Lamulo
Kutumiza mfundo Kulandira mfundo
Chigawo chowongolera zisankho
Chassis node
Kutalika kwa data
0x08 pa
Udindo
Ntchito
bati [0]
8-bit high liniya liwiro
bati [1]
8-bit low liniya liwiro
bati [2]
8-bit high angular velocity
bati [3]
8-bit low angular velocity
bati [4]
Zosungidwa
bati [5]
Zosungidwa
bati [6]
Zosungidwa
bati [7]
Zosungidwa
Control Malangizo
ID
kuzungulira (ms)
Landirani nthawi yatha (ms)
0x111 pa
20ms
Palibe
Mtundu wa data
Kufotokozera
adasainira int16
Kuthamanga kwa thupi lagalimoto , unit: mm/s, range [-1700,1700]
adasainira int16
Kuthamanga kwapang'onopang'ono kwa kuzungulira kwa thupi lagalimoto, gawo: 0.001rad/s, osiyanasiyana
[- 3140,3140]
–
0x00 pa
–
0x00 pa
–
0x00 pa
–
0x00 pa
18/35
Makina oyika ma mode amagwiritsidwa ntchito kukhazikitsa mawonekedwe owongolera a terminal. Zomwe zili mu protocol zikuwonetsedwa mu Table 3.5
Table 3.5 Control Mode Setting Frame
Dzina Lamulo
Kutumiza mfundo Kulandira mfundo
Chigawo chowongolera zisankho
Chassis node
Kutalika kwa data
0x01 pa
Udindo
Ntchito
bati [0]
CAN kuwongolera kuyatsa
Control Mode Setting Command
ID
kuzungulira (ms)
Landirani nthawi yatha (ms)
0x421 pa
20ms
500ms
Mtundu wa data wosasainidwa int8
Kufotokozera
0x00 Standby mode 0x01 CAN command mode yambitsani
Zindikirani [1] Kufotokozera za mawonekedwe owongolera
Pamene chiwongolero chakutali cha BUNKERPRO sichiyatsidwa, mawonekedwe owongolera amakhala oyimilira mwachisawawa, ndipo muyenera kuyisintha kuti ikhale yolamula kuti mutumize lamulo lowongolera mayendedwe. Remote control ikayatsidwa, remote control ili ndi mphamvu zambiri ndipo imatha kuteteza kuwongolera kwa malamulo. Pamene chiwongolero chakutali chikusinthidwa kupita ku lamulo lachidziwitso, chimafunikabe kutumiza lamulo lokhazikitsa njira yoyendetsera galimoto musanayankhe lamulo la liwiro.
Chikhazikitso cha mawonekedwe chimagwiritsidwa ntchito kuchotsa zolakwika zamakina. Zomwe zili mu protocol zikuwonetsedwa mu Table 3.6.
Table 3.6 Status Setting Frame
Dzina Lamulo
Kutumiza mfundo Kulandira mfundo
Chigawo chowongolera zisankho
Chassis node
Status Setting Command
ID
kuzungulira (ms)
Landirani nthawi yatha (ms)
0x441 pa
Palibe
Palibe
19/35
Deta kutalika Position
bati [0]
0x01 ntchito
Mtundu wa data
Cholakwika pakuchotsa lamulo
osasainidwa int8
Kufotokozera
0x00 yeretsani zolakwika zonse 0x01 Chotsani cholakwika cha mota 1 0x02 Chotsani cholakwika cha motor 2
Chidziwitso 3: Sample data; deta yotsatirayi ndi yoyesera zokha 1. Galimoto ikupita patsogolo pa liwiro la 0.15/S
bati [0] bati [1] bati [2] bati [3] bati [4] bati [5] bati [6] bati [7]
0x00 pa
0x96 pa
0x00 pa
0x00 pa
0x00 pa
0x00 pa
0x00 pa
0x00 pa
2. Galimoto imazungulira pa 0.2RAD/S
bati [0] bati [1] bati [2] bati [3] bati [4] bati [5] bati [6] bati [7]
0x00 pa
0x00 pa
0x00 pa
0xc8 pa
0x00 pa
0x00 pa
0x00 pa
0x00 pa
Kuphatikiza pazambiri zamakina a chassis, chidziwitso cha chassis chimaphatikizanso zambiri zamagalimoto ndi data ya sensor.
Table 3.7 Motor Speed Speed Position Information Ndemanga
Dzina Lamulo
Motor Drive High Speed Information Feedback Frame
Kutumiza mfundo Kulandira mfundo
ID
Chiwongolero cha waya
Kupanga zisankho
unit control
0x251~0x254
kuzungulira (ms)
Landirani nthawi yatha (ms)
20ms
Palibe
Kutalika kwa data
0x08 pa
20/35
Bayiti [0] bati [1] bati [2] bati [3] bati [4] bati [5] bati [6] bati [7]
Ntchito 8-bit mkulu injini
liwiro 8-bit low motor
liwiro Osungidwa 8-bit otsika pagalimoto kutentha Reserved Drive chikhalidwe Osungidwa Osungidwa
Mtundu wa data
adasainira int16
osasainidwa int8 -
Kufotokozera
Liwiro lagalimoto yamakono Unit RPM
0x00 gawo 1
0x00 Onani Table 3.9 kuti mumve zambiri
0x00 0x00
Table 3.8 Kutentha kwa Magalimoto, Voltage ndi Ndemanga Zachidziwitso cha Status
Dzina Lamulo
Motor Drive Low Speed Information Feedback Frame
Kutumiza mfundo Kulandira mfundo
ID
kuzungulira (ms)
Landirani nthawi yatha (ms)
Chiwongolero cha waya
Kupanga zisankho
unit control
0x261~0x264
Palibe
Palibe
Kutalika kwa data
0x08 pa
Udindo
Ntchito
Mtundu wa data
Kufotokozera
bati [0]
Zosungidwa
–
bati [1]
Zosungidwa
–
Liwiro lagalimoto yamakono Unit RPM
21/35
bati [2] bati [3] bati [4] bati [5] bati [6] bati [7]
8-bit high drive kutentha
8-bit low drive kutentha
Zosungidwa
Drive status
Zosungidwa
Zosungidwa
adasainira int16
osasainidwa int8
–
Table 3.9 Drive Status
Gawo 1
0x00 Onani Table 3.9 kuti mumve zambiri
0x00 0x00
Bayiti [5]
Pang'ono [0] pang'ono [1] pang'ono [2] pang'ono [3] pang'ono [4] pang'ono [5] pang'ono [6] pang'ono [7]
Kufotokozera Kaya magetsi voltage ndiyotsika kwambiri (0: Normal
1:Yotsika kwambiri) Kaya mota yatenthedwa kwambiri (0: Yachizolowezi 1:
Kutenthedwa Kwambiri) Zosungidwa Zosungidwa Zosungidwa Zosungidwa Zosungidwa
Table 3.10 Odometer Feedback Frame
Dzina Lamulo
Odometer Information Feedback Frame
22/35
Kutumiza mfundo Kulandira mfundo
ID
Chiwongolero cha waya
Kupanga zisankho
unit control
Kutalika kwa data
0x08 pa
Udindo
Ntchito
bati [0]
Chokwera kwambiri cha odometer yakumanzere
bati [1]
Chachiwiri chapamwamba kwambiri cha gudumu lakumanzere
odometer
bati [2]
Gawo lachiwiri lotsika kwambiri la gudumu lakumanzere
odometer
bati [3]
Pang'ono kwambiri kumanzere
gudumu odometer
bati [4]
Chokwera kwambiri cha odometer yakumanja
bati [5]
Chachiwiri-chapamwamba kwambiri cha kumanja
gudumu odometer
bati [6]
Chachiwiri-chotsikitsitsa pang'ono chakumanja
gudumu odometer
0x311 Mtundu wa data wosainidwa int32 wosainidwa int32
kuzungulira (ms)
Landirani nthawi yatha (ms)
20ms
Palibe
Kufotokozera
Chassis kumanzere gudumu odometer ndemanga Unit: mm
Chassis gudumu lakumanja odometer ndemanga Unit: mm
23/35
bati [7]
Chotsika kwambiri cha odometer yakumanja
Table 3.11 Remote Control Information Ndemanga
Dzina Lamulo
Remote Control Information Feedback Frame
Kutumiza mfundo Kulandira mfundo
Chiwongolero cha waya
Kupanga zisankho
unit control
ID 0x241
kuzungulira (ms)
Landirani nthawi yatha (ms)
20ms
Palibe
Deta kutalika Position
0x08 ntchito
Mtundu wa data
bati [0]
Ndemanga za SW zowongolera kutali
osasainidwa int8
Kufotokozera
pang'ono[0-1]: SWA: 2-Mmwamba 3-Pansi pang'ono[2-3]: SWB: 2-Mmwamba 1-Middle 3-
Pansi pang'ono [4-5]: SWC: 2-Mmwamba 1-Middle 3-
Pansi Pansi [6-7]: SWD: 2-Mmwamba 3-Pansi
bati [1] bati [2]
Chingwe chakumanja kumanzere ndi kumanja
Lever yakumanja mmwamba ndi pansi
adasainidwa int8 adasainidwa int8
Range: [-100,100] Range: [-100,100]
bati [3]
Chotengera chakumanzere mmwamba ndi pansi
adasainira int8
Mtundu: [-100,100]
24/35
bati [4] bati [5] bati [6] bati [7]
Kumanzere kumanzere ndi kumanja
Kondo lakumanzere VRA
Zosungidwa
Werengani cheke
adasainira int8
adasainira int8 -
osasainidwa int8
Range: [-100,100] Range: [-100,100] 0x00
0-255 kuwerengera kuzungulira
3.3.2
CAN
chingwe
kulumikizana
BUNKERPRO imatumizidwa ndi cholumikizira chachimuna cholumikizira ndege monga momwe tawonera pa Chithunzi 3.2. Tanthauzo la chingwe: chikasu ndi CANH, buluu ndi CANL, chofiira ndi champhamvu, ndipo chakuda ndi chopanda mphamvu.
Zindikirani:
In
ndi
panopa
Mtengo wa BUNKERPRO
mtundu,
ndi
zakunja
kuwonjezera
mawonekedwe
is
kokha
tsegulani
ku
ndi
kumbuyo
mawonekedwe.
In
izi
mtundu,
ndi
mphamvu
kupereka
akhoza
kupereka
a
pazipita
panopa
of
Zamgululi
Chithunzi 3.2 Schematic Chithunzi cha Aviation Plug Male Connector
3.3.3
Kuzindikira
of
CAN
lamula
kulamulira
25/35
Yambitsani BUNKERPRO chassis ya loboti yam'manja nthawi zonse, yatsani chowongolera chakutali cha FS, ndiyeno sinthani mawonekedwe owongolera kuti mulamulire, ndiye kuti, tembenuzani mawonekedwe a SWB a FS remote control kupita pamwamba. Panthawiyi, BUNKERPRO chassis idzavomereza lamulo kuchokera ku mawonekedwe a CAN, ndipo wolandirayo angathenso kusanthula momwe galimotoyo ilili panopa kudzera mu data yeniyeni yobwezeredwa ndi basi ya CAN nthawi yomweyo. Onani ku protocol yolumikizirana ya CAN pazinthu zinazake za protocol.
3.4
Firmware
kukweza
Kuti muthandizire ogwiritsa ntchito kukweza mtundu wa firmware wa BUNKER MINI 2.0 ndikubweretsa kwa makasitomala chidziwitso chabwino kwambiri, BUNKER MINI 2.0 imapereka mawonekedwe a hardware kuti akweze firmware ndi pulogalamu yofananira ya kasitomala.
Sinthani
Kukonzekera
Agilex CAN debugging module X 1 Micro USB chingwe X 1 BUNKER PRO chassis X 1 A kompyuta (WINDOWS OS (Operating System) X 1
Sinthani
Njira
1.Sungani gawo la USBTOCAN pa kompyuta, ndiyeno mutsegule pulogalamu ya AgxCandoUpgradeToolV1.3_boxed.exe (zotsatizana sizingakhale zolakwika, choyamba tsegulani pulogalamuyo ndikulowetsamo, chipangizocho sichidzazindikirika). 2.Click Open seri batani, ndiyeno akanikizire mphamvu batani pa galimoto thupi. Ngati kugwirizanako kukuyenda bwino, chidziwitso cha mtundu waulamuliro waukulu chidzazindikiridwa, monga momwe tawonetsera pachithunzichi.
26/35
3.Dinani Katundu Firmware File batani kuti mutsegule firmware kuti ikwezedwe. Ngati kutsitsa kukuyenda bwino, chidziwitso cha firmware chidzapezedwa, monga momwe tawonetsera pachithunzichi
27/35
4.Dinani mfundo kuti mukwezedwe mu bokosi la mndandanda wa node, ndiyeno dinani Yambani Kukweza Firmware kuti muyambe kukweza firmware. Kukweza kukachitika bwino, bokosi la pop-up lidzayambitsa.
28/35
3.5
Mtengo wa BUNKERPRO
ROS
Phukusi
Gwiritsani ntchito
Example
ROS imapereka ntchito zina zamakina ogwiritsira ntchito, monga kuchotsera kwa hardware, kuwongolera zida zotsika, kukhazikitsa ntchito zofananira, uthenga wapakati panjira ndi kasamalidwe ka paketi ya data. ROS imachokera pamapangidwe a ma graph, kotero kuti njira zama node osiyanasiyana zitha kulandira, kumasula, ndikuphatikiza zidziwitso zosiyanasiyana (monga kuzindikira, kuwongolera, mawonekedwe, kukonzekera, ndi zina). Pakadali pano ROS imathandizira kwambiri UBUNTU.
Chitukuko
kukonzekera
Zida zamagetsi
kukonzekera CANlight akhoza kulankhulana gawo X1 Thinkpad E470 kope X1 AGILEX BUNKERPRO mafoni loboti chassis X1 AGILEX BUNKERPRO kuthandizira kutali FS-i6s X1 AGILEX BUNKERPRO pamwamba zitsulo zitsulo X1 Gwiritsani ntchito
example
chilengedwe
Kufotokozera Ubuntu 18.04 ROS Git
Zida zamagetsi
kulumikizana
ndi
kukonzekera
Tulutsani kunja chingwe cha CAN cha pulagi ya BUNKERPRO yapamwamba ya ndege kapena pulagi yamchira, ndikulumikiza CAN_H ndi CAN_L mu chingwe cha CAN ku adaputala ya CAN_TO_USB motsatana;
Yatsani chosinthira cholumikizira pa loboti yam'manja ya BUNKERPRO, ndikuwona ngati kuyimitsidwa kwadzidzidzi mbali zonse kumasulidwa;
Lumikizani CAN_TO_USB ku mawonekedwe a usb a notebook. Chithunzi cholumikizira chikuwonetsedwa pazithunzi 3.4.
Chithunzi 3.4 Chithunzi cha Schematic cha CAN CABLE Connection
29/35
ROS
kukhazikitsa
ndi
chilengedwe
kukhazikitsa
Kuti mudziwe zambiri za kukhazikitsa, chonde onani http://wiki.ros.org/kinetic/Installation/Ubuntu
Yesani
ZOTHANDIZA
hardware
ndi
CAN
kulankhulana
Kukhazikitsa CAN-TO-USB adaputala Yambitsani gawo la gs_usb kernel
sudo modprobe gs_usb
Kukhazikitsa 500k Baud mlingo ndikuthandizira can-to-usb adapter sudo ip link set can0 up can500000 up can bitrate XNUMX
Ngati palibe cholakwika m'masitepe am'mbuyomu, muyenera kugwiritsa ntchito lamulo ku view chipangizo cha chitini nthawi yomweyo
ifconfig -a
Ikani ndikugwiritsa ntchito can-utils kuyesa hardware sudo apt install can-utils
Ngati can-to-usb yalumikizidwa ku loboti ya SCOUT 2.0 nthawi ino, ndipo galimotoyo yayatsidwa, gwiritsani ntchito malamulo otsatirawa kuti muyang'anire zomwe zachokera ku SCOUT 2.0 chassis
candump akhoza0
30/35
Chonde onani: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux. html
AGILEX
Mtengo wa BUNKERPRO
ROS
PAKUTI
download
ndi
phatikiza
Tsitsani phukusi lodalira ros
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Tsegulani ndikuphatikiza nambala yoyambira ya bunker_ros
mkdir -p ~/catkin_ws/src 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 /setup.bash
Gwero lothandizira: https://github.com/agilexrobotics/bunker_ros
Yambani
ndi
ROS
mfundo
Yambani node yoyambira
roslaunch bunker_bringup bunker_robot_base.launch Yambitsani kiyibodi yakutali
roslaunch bunker_bringup bunker_teleop_keyboard.launch
31/35
Phukusi lachitukuko la Github ROS ndi malangizo ogwiritsira ntchito * _base:: Malo oyambira kuti chassis atumize ndikulandila mauthenga apamwamba a CAN. Kutengera njira yolumikizirana ya ros, imatha kuwongolera kayendedwe ka chassis ndikuwerenga momwe chipindacho chilili kudzera pamutuwu. *_msgs: Tanthauzirani mtundu wa uthenga wa mutu wankhani yoyankha pa chassis *_bringup: startup files ya ma chassis node ndi ma kiyibodi owongolera, ndi zolemba kuti athe usb_to_can module
4
Q&A
Q BUNKERPRO imayambika bwino, koma chifukwa chiyani sichisuntha mukamagwiritsa ntchito chowongolera chakutali
kuwongolera gulu lagalimoto?
A Choyamba, tsimikizirani ngati chosinthira mphamvu chikukanidwa; ndiyeno, kutsimikizira ngati ulamuliro
mawonekedwe osankhidwa kudzera pakusintha kosankha kolowera kumtunda kumanzere kwa chowongolera chakutali ndi cholondola.
Q: Kuwongolera kwakutali kwa BUNKERPRO ndikwachilendo; mawonekedwe a chassis ndi chidziwitso cha kayendetsedwe kake ndizabwinobwino; koma chifukwa chiyani mawonekedwe owongolera agalimoto sangasinthidwe, ndipo chifukwa chiyani chassis sichimayankha pa protocol yowongolera pomwe protocol yowongolera imaperekedwa? A: Muzochitika zodziwika bwino, ngati BUNKERPRO ikhoza kuyendetsedwa ndi chiwongolero chakutali, zikutanthauza kuti kayendetsedwe ka galimoto kameneka ndi kozolowereka; ngati ingalandire mawonekedwe a chassis, zikutanthauza kuti ulalo wowonjezera wa CAN ndi wabwinobwino. Chonde onani ngati lamulo lasinthidwa kuti lizitha kuwongolera.
Q: Mukamalankhulana kudzera pa basi ya CAN, lamulo la chassis ndi lachilendo; koma nchifukwa chiyani galimotoyo simayankha pamene ikupereka ulamuliro? A: BUNKERPRO ili ndi njira yotetezera kulumikizana mkati. Chassis ili ndi njira yodzitchinjiriza nthawi yomwe ikugwira ntchito yowongolera CAN kuchokera kunja. Tiyerekeze kuti galimotoyo italandira ndondomeko yolumikizirana, koma sichilandira lamulo lotsatira la kulamulira kwa oposa 500MS, idzalowa mu chitetezo choyankhulirana, ndipo liwiro lake ndi 0. Choncho, malamulo ochokera ku kompyuta ya alendo ayenera kuperekedwa nthawi ndi nthawi.
32/35
5
Zogulitsa
Makulidwe
5.1
Chitsanzo
chithunzi
of
mankhwala
miyeso
33/35
5.2
Chitsanzo
chithunzi
of
pamwamba
chowonjezera
thandizo
miyeso
34/35
35/35
Zolemba / Zothandizira
 |
Gulu la AgileX Hunter AgileX Robotic Team [pdf] Buku Logwiritsa Ntchito Gulu la Hunter AgileX Robotic, Gulu la AgileX Robotic, Gulu la Robotic, Gulu |
