Iqela le-TRACER AgileX Robotics i-Autonomous Mobile Robot

Esi sahluko siqulethe ulwazi olubalulekileyo lokhuseleko, ngaphambi kokuba irobhothi isebenze okokuqala, nawuphi na umntu okanye umbutho kufuneka afunde aze aqonde olu lwazi ngaphambi kokuba asebenzise isixhobo. Ukuba unayo nayiphi na imibuzo malunga nokusetyenziswa, nceda uqhagamshelane nathi inkxaso@agilex.ai. Nceda ulandele kwaye usebenzise yonke imiyalelo yendibano kunye nezikhokelo kwizahluko zale ncwadana, ebaluleke kakhulu. Ingqwalasela eyodwa kufuneka ihlawulwe kwisicatshulwa esinxulumene neempawu ezilumkisayo.

Ulwazi ngoKhuseleko

Ulwazi olukule ncwadana alubandakanyi ukuyila, ukufakwa kunye nokusebenza kwesicelo esipheleleyo serobhothi, kwaye ayibandakanyi zonke izixhobo ze-peripheral ezinokuchaphazela ukhuseleko lwenkqubo epheleleyo. Uyilo kunye nokusetyenziswa kwenkqubo epheleleyo kufuneka ihambelane neemfuno zokhuseleko ezisekwe kwimigangatho kunye nemimiselo yelizwe apho i-robot ifakwe khona. I-TRACER integrators kunye nabathengi bokugqibela banoxanduva lokuqinisekisa ukuthotyelwa kwemithetho esebenzayo kunye nemimiselo yamazwe afanelekileyo, kunye nokuqinisekisa ukuba akukho bungozi obukhulu kwisicelo esipheleleyo serobhothi. Oku kuquka kodwa akuphelelanga koku kulandelayo

Ukusebenza kunye noxanduva

• Yenza uvavanyo lomngcipheko wenkqubo yerobhothi epheleleyo.
• Qhagamshela izixhobo ezongezelelweyo zokhuseleko zabanye oomatshini abachazwe luvavanyo lomngcipheko kunye.
• Qinisekisa ukuba uyilo kunye nofakelo lwazo zonke izixhobo zomda werobhothi, kubandakanywa isoftware kunye neenkqubo zehardware, zichanekile.
• Le robhothi ayinayo i-robot epheleleyo ezimeleyo ehambayo, kubandakanywa kodwa ingaphelelanga ekuchaseni ukungqubana, ukulwa nokuwa, isilumkiso se-biological kunye neminye imisebenzi enxulumene nokhuseleko. Imisebenzi enxulumeneyo ifuna abahlanganisi kunye nabathengi bokugqibela ukuba balandele imimiselo efanelekileyo kunye nemithetho enokwenzeka kunye nemimiselo yovavanyo lokhuseleko. Ukuqinisekisa ukuba i-robot ephuhlisiwe ayinayo nayiphi na ingozi enkulu kunye neengozi zokhuseleko kwizicelo zangempela.
• Qokelela onke amaxwebhu kubugcisa file: kubandakanywa uvavanyo lomngcipheko kunye nale ncwadana.

Ukuqwalaselwa kokusingqongileyo

• Kusetyenziso lokuqala, nceda ufunde le ncwadana ngononophelo ukuze uqonde umxholo osisiseko wokusebenza kunye neenkcukacha zokusebenza.
• Kumsebenzi wolawulo olukude, khetha indawo evulekileyo ukuze usebenzise i-TRACER, kuba i-TRACER ayixhotyiswanga nayo nayiphi na inzwa yokuphepha imiqobo ezenzekelayo.
• Sebenzisa iTRACER rhoqo ngaphantsi kwe -10℃~45℃ ubushushu be-ambient.
• Ukuba i-TRACER ayimiselwanga ngokhuseleko lwe-IP yesiko olwahlukileyo, ukhuseleko lwamanzi nothuli luya kuba yi-IP22 KUPHELA.

Uluhlu lokutshekisha kwangaphambili

• Qinisekisa ukuba isixhobo ngasinye sinamandla awoneleyo.
• Qinisekisa ukuba iBunker ayinazo naziphi na iziphene ezicacileyo.
• Jonga ukuba ibhetri yesilawuli kude sinamandla awoneleyo.
• Xa usebenzisa, qiniseka ukuba iswitshi yokumisa kaxakeka ikhululiwe.

Ukusebenza

• Kumsebenzi wolawulo olude, qinisekisa ukuba indawo ejikelezileyo ibanzi.
• Yenza ulawulo olukude phakathi koluhlu lokubonakala.
• Owona mthwalo mkhulu we-TRACER yi-100KG. Xa usetyenziswa, qinisekisa ukuba umthwalo awugqithi kwi-100KG.
• Xa ufaka ulwandiso lwangaphandle kwi-TRACER, qinisekisa indawo yeziko lobunzima bokwandisa kwaye uqinisekise ukuba kuphakathi kokujikeleza.
• Nceda uhlawule ngexesha xa isixhobo voltage ingaphantsi kuno-22.5V.
• Xa i-TRACER inesiphene, nceda uyeke ngokukhawuleza ukuyisebenzisa ukuphepha umonakalo wesibini.
• Xa u-TRACER enesiphene, nceda uqhagamshelane nobugcisa obufanelekileyo ukuze ujongane naso, musa ukusiphatha wedwa eso siphene.
• Hlala usebenzisa i-SCOUT MINI (OMNI) kwindawo engqongileyo kunye nenqanaba lokukhusela elifunekayo kwisixhobo.
• Musa ukutyhala SCOUT MINI(OMNI) ngqo.
• Xa utshaja, qinisekisa ukuba ubushushu be-ambient bungaphezulu kwe-0℃

Isondlo

Ukuze kuqinisekiswe umthamo wokugcina ibhetri, ibhetri kufuneka igcinwe phantsi kombane, kwaye kufuneka ihlawulwe rhoqo xa ingasetyenziswanga ixesha elide.

I-MINIAGV (TRACER) Intshayelelo

I-TRACER yenzelwe njenge-UGV yeenjongo ezininzi ezineemeko ezahlukeneyo zesicelo eziqwalaselwayo: uyilo lwemodyuli; uqhagamshelwano oluguquguqukayo; isistim yemoto enamandla ekwazi ukulayisha okuphezulu.Ukudityaniswa kwe-chassis enamavili amabini kunye ne-hub motor kungayenza ukuba ihambe iguquguqukayo ngaphakathi.Iinxalenye ezongezelelweyo ezifana nekhamera ye-stereo, i-laser radar, i-GPS, i-IMU kunye ne-robotic manipulator inokufakwa ngokuzithandela kwi-TRACER ukwenzela ukuqhubela phambili. ukukhangela kunye nezicelo zombono wekhompyuter. I-TRACER isetyenziswa rhoqo kwimfundo yokuqhuba ngokuzimeleyo kunye nophando, ukujikeleza kokhuseleko lwangaphakathi nangaphandle kunye nokuthutha, ukukhankanya nje ezimbalwa.

Uluhlu lwamacandelo

Igama	Ubungakanani
TRACER Umzimba weRobhothi	x1
Itshaja yebhetri(AC 220V)	x1
Ugqithiso lolawulo olukude(uyazikhethela)	x1
I-USB ukuya kwintambo yesiriyali	x1
Iplagi yeAviation (inkunzi,4-Pin)	x1
Imodyuli yonxibelelwano ye-USB ukuya kwi-CAN	x1

Iinkcukacha zobuchwephesha

Iimfuno zophuhliso
I-RC transmitter inikezelwa (ukhetho) kwi-factory setting ye-TRACER, evumela abasebenzisi ukuba balawule i-chassis ye-robot ukuhamba nokujika; I-CAN kunye ne-RS232 ujongano kwi-TRACER inokusetyenziselwa ukwenziwa komsebenzisi

Iziseko

Eli candelo libonelela ngentshayelelo emfutshane kwi-TRACER yesikhulumi serobhothi ehambayo, njengoko kubonisiwe

I-TRACER iyilwe njengemodyuli epheleleyo ebukrelekrele, ethi kunye ne-DC hub motor enamandla, yenza ukuba i-chassis ye-robot ye-TRACER ihambe ngokuguquguqukayo kumhlaba osicaba wangaphakathi. Imiqadi echasene nokungqubana ixhonywe malunga nesithuthi ukunciphisa umonakalo onokwenzeka kumzimba wesithuthi ngexesha lokungqubana. Izibane zifakwe phambi kwesithuthi, apho ukukhanya okumhlophe kulungiselelwe ukukhanyisa ngaphambili. Isitshixo sokumisa ixesha likaxakeka sixhonywe kumda ongasemva womzimba wesithuthi, esinokuvala amandla erobhothi ngoko nangoko xa irobhothi iziphatha ngendlela engaqhelekanga. Izihlanganisi zamanzi ze-DC amandla kunye nojongano lonxibelelwano lubonelelwa ngasemva kwe-TRACER, engavumeli kuphela uxhulumaniso oluguquguqukayo phakathi kwerobhothi kunye namalungu angaphandle kodwa iqinisekisa ukhuseleko oluyimfuneko ngaphakathi kwirobhothi naphantsi kweemeko zokusebenza ezinzima. Indawo evulekileyo ye-bayonet igcinwe phezulu kubasebenzisi.

Ubume besalathiso
Abasebenzisi banokuchonga isimo somzimba wesithuthi nge-voltmeter kunye nezibane ezifakwe kwi-TRACER. Ngeenkcukacha

Imiyalelo kujongano lombane

Ujongano lombane olungasemva
I-interface yokwandisa ekupheleni ngasemva iboniswe kuMfanekiso 2.3, apho i-Q1 i-D89 i-serial port; I-Q2 yi-stop switch; I-Q3 lizibuko lokutshaja amandla; I-Q4 yi-interface yolwandiso lwe-CAN kunye ne-24V yamandla ombane; I-Q5 yimitha yombane; I-Q6 yitshintshi ejikelezayo njengombane oyintloko.

Iphaneli yangasemva ibonelela nge-interface yonxibelelwano ye-CAN efanayo kunye ne-24V ujongano lwamandla kunye nephezulu (ezimbini zazo zidibene ngaphakathi ngaphakathi). Iinkcazo zephini zinikiwe

Imiyalelo kulawulo olude
I-FS RC transmitter yi-accessory yokuzikhethela ye-TRACER yokulawula irobhothi ngesandla. I-transmitter iza noqwalaselo lwesandla sasekhohlo. Inkcazo kunye nomsebenzi

Ukongeza kwiintonga ezimbini ze-S1 kunye ne-S2 ezisetyenziselwa ukuthumela i-linear kunye ne-angular velocity imiyalelo, iiswitshi ezimbini zinikwe amandla ngokungagqibekanga: I-SWB yokukhethwa kwemodi yokulawula (isikhundla esiphezulu semowudi yokulawula kunye nendawo ephakathi kwimodi yokulawula kude), i-SWC yokukhanyisa. ulawulo. Amaqhosha amabini AMANDLA kufuneka acinezelwe kwaye abanjwe kunye ukuvula okanye ukucima isithumeli.

Imiyalelo kwiimfuno zolawulo kunye neentshukumo
Njengoko kubonisiwe kuMzobo 2.7, umzimba wesithuthi we-TRACER uhambelana ne-X axis yenkqubo yokulungelelanisa ireferensi esekiweyo. Ukulandela le ngqungquthela, isantya esilungileyo somgca sihambelana nokuhamba phambili kwesithuthi ecaleni kwendlela efanelekileyo ye-x-axis kunye nesantya esilungileyo se-angular sihambelana nokujikeleza okulungileyo kwisandla sasekunene malunga ne-z-axis. Kwimowudi yolawulo lwe-manuwali nge-RC transmitter, ukutyhala intonga ye-C1 (imodeli ye-DJI) okanye intonga ye-S1 (imodeli ye-FS) ukuya phambili iya kuvelisa umyalelo wesantya esilungileyo kunye nokutyhala i-C2 (imodeli ye-DJI) kunye ne-S2 (imodeli ye-FS) ukuya ekhohlo. izakuvelisa umyalelo ovumayo wesantya se-angular

Ndiyaqalisa

Eli candelo lazisa umsebenzi osisiseko kunye nophuhliso lweqonga leTRACER kusetyenziswa i-CAN bus interface.

Ukusetyenziswa kunye nokusebenza

Khangela

• Jonga imeko yomzimba wesithuthi. Jonga ukuba kukho izinto ezingaqhelekanga; ukuba kunjalo, nceda uqhagamshelane nabasebenzi benkonzo emva kwentengiso ukuze ufumane inkxaso;
• Jonga imeko yonxunguphalo yokumisa. Qinisekisa ukuba omabini amaqhosha okumisa kaxakeka akhululiwe.

Cima
Jikelezisa isitshixo sokutshintsha ukuze ucime unikezelo lwamandla;

Ukuqala eqala

• Isimo sokutshintsha okungxamisekileyo sokumisa. Qinisekisa ukuba amaqhosha okumisa unxunguphalo akhululwe onke;
• Jikelezisa isitshixo sokutshintsha (i-Q6 kwiphaneli yombane), kwaye ngokuqhelekileyo, i-voltmeter iya kubonisa ibhetri echanekileyotage kunye nezibane zangaphambili nezingasemva ziya kulayitwa zombini

Ukumisa ngokungxamisekileyo
Cinezela phantsi iqhosha lokucofa likaxakeka kokubini ngasekhohlo nasekunene kwemoto yangasemva;

Inkqubo esisiseko yokusebenza yolawulo olukude
Emva kokuba i-chassis ye-TRACER ye-robot ehambayo iqalwe ngokuchanekileyo, vula i-RC transmitter kwaye ukhethe imowudi yokulawula kude. Emva koko, ukunyakaza kweqonga le-TRACER kunokulawulwa yi-RC transmitter.

Ukutshaja
I-TRACER ixhotyiswe ngetshaja ye-10A ngokungagqibekanga ukuhlangabezana nemfuno yokutshaja yabathengi.

Inkqubo eneenkcukacha yokusebenza yokutshaja iboniswe ngolu hlobo lulandelayo

• Qinisekisa ukuba umbane we-TRACER chassis ucinyiwe. Ngaphambi kokutshaja, nceda uqiniseke ukuba i-Q6 (isitshixo sokutshintsha) kwi-console yokulawula yangasemva icinyiwe;
• Faka iplagi yetshaja kwi-Q3 yokutshaja ujongano kwiphaneli yokulawula yangasemva;
• Qhagamshela itshaja kumbane kwaye uvule iswitshi kwitshaja. Emva koko, i-robot ingena kwimeko yokutshaja.

Unxibelelwano usebenzisa i-CAN
I-TRACER ibonelela nge-CAN kunye ne-RS232 ujongano kulungiselelwa umsebenzisi. Abasebenzisi banokukhetha enye yolu nxibelelwano ukwenza ulawulo lomyalelo kumzimba wesithuthi.

I-CAN umyalezo olandelwayo
I-TRACER ithatha umgangatho wonxibelelwano we-CAN2.0B onesantya sonxibelelwano lwe-baud ye-500K kunye nefomathi yomyalezo we-Motorola. Nge-interface yebhasi ye-CAN yangaphandle, isantya esihambayo somgca kunye nesantya esijikelezayo se-angular ye-chassis sinokulawulwa; I-TRACER iya kunika ingxelo malunga nemeko yentshukumo yangoku kunye nolwazi lwemo ye-chassis ngexesha lokwenyani. Iprothokholi ibandakanya isakhelo sengxelo yobume benkqubo, isakhelo sengxelo yentshukumo yolawulo kunye nesakhelo solawulo, imixholo eboniswa ngolu hlobo lulandelayo: Umyalelo wengxelo yemeko yenkqubo uquka ulwazi lwengxelo malunga nobume bangoku bomzimba wesithuthi, ubume bemo yolawulo, umthamo webhetri.tage kunye nokusilela kwenkqubo. Inkcazo inikwe kwiThebhile 3.1.

Isakhelo seNgxelo ye-TRACER Chassis System Status

Umyalelo weGama leSixokelelwano seNgxelo yoBume Umyalelo
Ukuthumela indawo	Ukufumana indawo	ID	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
I-chassis yokulawula ngocingo Ubude bedatha Isikhundla	I-Decoisniotrno-lmuankiting 0x08 Umsebenzi	0x151   Uhlobo lwedatha	20ms	Akukho nanye
			Inkcazo
byte [0]	Cuvrerheniclestbaotudsyof	engatyikitywanga int8	0x00 Inkqubo ekwimeko eqhelekileyo 0x01 Imo yokumisa iNgxakeko 0x02 Inkqubo ngaphandle
byte [1]	Ulawulo lwemowudi	engatyikitywanga int8	0x00 Imowudi yolawulo olukude 0x01 CAN imo yokulawula yomyalelo[1] 0x02 Uthotho lwendlela yokulawula izibuko
byte [2] byte [3]	Ibhetri ivoltage ephezulu 8 bits Ibhetri voltage yehlisa 8 bits	engatyikitywanga int16	Eyona voltage X 10 (ngokuchaneka kwe-0.1V)
byte [4]	Ulwazi lokusilela	engatyikitywanga int16	Jonga amanqaku ngeenkcukacha【Itheyibhile 3.2】
byte [5]	Igciniwe	–	0x00
byte [6]	Igciniwe	–	0x00
byte [7]	Bala iparitybit (bala)	engatyikitywanga int8	0 - 255 ukubala iilophu

Inkcazelo yoKungaphumeleli koLwazi

Umyalelo wesakhelo sengxelo yokulawula intshukumo ibandakanya impendulo yesantya sangoku somgca kunye nesantya se-angular somzimba wesithuthi esishukumayo. Ngomxholo ocacileyo weprotocol, nceda ujonge kwiTheyibhuli 3.3.

iMovement Control Feedback Frame

Umyalelo weGama loLawulo lweNtshukumo Umyalelo
Ukuthumela indawo	Ukufumana indawo	ID	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
I-chassis yokulawula ngocingo	Iyunithi yolawulo lokwenza izigqibo	0x221	20ms	Akukho nanye
Ubude bedatha	0x08
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0] byte [1]	Isantya esihambayo siphezulu kwiibhithi ezisi-8 Isantya esishukumayo sisezantsi kwiibits ezi-8	isayinwe in16	Iyunithi yesantya semoto:mm/s
byte [2] byte [3]	Isantya esijikelezayo siphezulu 8 bits Isantya sokujikeleza sisezantsi kwi-8 bits	isayinwe in16	Isantya se-angular yesithuthi: 0.001rad/s
byte [4]	Igciniwe	–	0x00
byte [5]	Igciniwe	–	0x00
byte [6]	Igciniwe	–	0x00
byte [7]	Igciniwe	–	0x00

Isakhelo solawulo sibandakanya ukuvuleka kokulawula kwesantya somgca kunye nokulawula ukuvuleka kwesantya se-angular. Ngomxholo wayo oneenkcukacha zeprotocol, nceda ujonge kwiThebhile 3.4.

Ulawulo lweSakhelo soLawulo lweNtshukumo

Umyalelo weGama loLawulo Umyalelo
Ukuthumela indawo I-chassis yokulawula ngocingo Ubude bedatha	Ukufumana indawo yeChassis node 0x08	Isazisi 0x111	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
			20ms	500ms
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0] byte [1]	Isantya esihambayo siphezulu iibits ezisi-8	isayinwe in16	Iyunithi yesantya semoto:mm/s
byte [2] byte [3]	Isantya esijikelezayo siphezulu 8 bits Isantya sokujikeleza sisezantsi kwi-8 bits	isayinwe in16	Isantya se-angular yemoto Iyunithi:0.001rad/s
byte [4]	Igciniwe	—	0x00
byte [5]	Igciniwe	—	0x00
byte [6]	Igciniwe	—	0x00
byte [7]	Igciniwe	—	0x00

Isakhelo sokulawula ukukhanya siquka imeko yangoku yokukhanya kwangaphambili. Ngomxholo wayo oneenkcukacha zeprotocol, nceda ujonge kwiTheyibhile 3.5.

Isakhelo sokuLawula ukuKhanya

Ukuthumela indawo	Ukufumana indawo	ID	Umjikelo (ms) Ukufumana ixesha lokuphuma (ms)
I-chassis yokulawula ngocingo	Iyunithi yolawulo lokwenza izigqibo	0x231	20ms	Akukho nanye
Ubude bedatha	0x08
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0]	Ulawulo lokukhanyisa luvumela iflegi	engatyikitywanga int8	0x00 Umyalelo wolawulo awusebenzi 0x01 Ulawulo lokukhanyisa luvuleleke
byte [1]	Imowudi yokukhanya yangaphambili	engatyikitywanga int8	0x002xB010 NmOC de 0x03 User-defiLnedobrightness
byte [2]	Ukuqaqamba ngokwesiko kwesibane sangaphambili	engatyikitywanga int8	[0, 100], apho 0mreafxeimrsutomnboribgrhigtnhetnssess, 100 ibhekisa ku
byte [3]	Igciniwe	—	0x00
byte [4]	Igciniwe	—	0x00
byte [5]	Igciniwe	—	0x00
byte [6] byte [7]	Ubalo olugciniweyo lwe-paritybit (ukubalwa)	– engatyikitywanga int8	0x00 0a-

Isakhelo semo yolawulo sibandakanya ukuseta indlela yolawulo ye-chassis. Ngomxholo wayo oneenkcukacha, nceda ujonge kwiTheyibhile 3.7.

Imo Yokulawula Umyalelo weSakhelo

Umyalelo wemodi yokulawula
Kwimeko apho i-RC transmitter ivaliwe, indlela yokulawula ye-TRACER ayigqibekanga kwimodi yokulawula yomyalelo, oku kuthetha ukuba i-chassis inokulawulwa ngokuthe ngqo ngomyalelo. Nangona kunjalo, nangona i-chassis ikwimo yolawulo lomyalelo, imo yokulawula kumyalelo kufuneka ibekwe kwi-0x01 ukuze kuqhutywe ngempumelelo umyalelo wesantya. Nje ukuba i-RC transmitter ivulwe kwakhona, inelona nqanaba liphezulu legunya lokukhusela ulawulo lomyalelo kunye nokutshintsha kwindlela yokulawula. Isimo sesakhelo sendawo siquka umyalezo wemposiso ecacileyo. Ngomxholo wayo oneenkcukacha, nceda ujonge kwiTheyibhile 3.8.

Isikhundla sesimo Umyalelo weSakhelo

Umyalelo weNdawo yeSimo seNdawo yeSakhelo
Ukuthumela indawo	Ukufumana indawo	ID	Umjikelo (ms) Ukufumana ixesha lokuphuma (ms)
I-chassis yokulawula ngocingo Ubude bedatha Isikhundla	Iyunithi yokulawula ukwenza izigqibo 0x01 Umsebenzi	0x441   Uhlobo lwedatha	Akukho nanye	Akukho nanye
			Inkcazo
byte [0]	Imo yokulawula	engatyikitywanga int8	0x00 Sula zonke iimpazamo 0x01 Sula iimpazamo zemoto 1 0x02 Sula iimpazamo zemoto 2

I-Odometer Feedback Umyalelo

Ukuthumela i-node Steer-by-wire chassis Ubude bedatha	Ukufumana iyunithi yolawulo yokwenza izigqibo 0x08	Isazisi 0x311	Umjikelo (ms) 接收超时(ms)
			20ms	Akukho nanye
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0]	Ekhohlo itayara eyona odometer ephezulu	isayinwe in32	Idatha ye odometer yevili lasekhohlo Iyunithi mm
byte [1]	Itayara lasekhohlo iodomitha yesibini ephezulu
byte [2]	Itayara lasekhohlo yesibini iodomitha ephantsi
byte [3]	Ekhohlo itayara lisezantsi odometer
byte [4]	Itayara lasekunene eyona odometer	usayinelwe in32-	Idatha ye odometer yetayara lasekunene Iyunithi mm
byte [5]	Itayara lasekunene iodomitha yesibini ephezulu
byte [6]	Itayara lasekunene lesibini kweyona odometer ephantsi
byte [7]	Itayara lasekunene eyona odometer isezantsi

Ulwazi lobume be-chassis luya kubuyiselwa; yintoni ngaphezulu, ulwazi malunga motor. Esi sikhokelo sengxelo silandelayo sinolwazi malunga nemoto

iMotor High-speed Information Feedback Frame

Igama lomyalelo weMoto okwisantya esiphezulu soLwazi lweSakhelo seNgxelo
Ukuthumela indawo	Ukufumana indawo	ID	Umjikelo (ms) Ukufumana ixesha lokuphuma (ms)
I-chassis yokulawula ngocingo Ubude bedatha Isikhundla	I-chassis yokulawula ngocingo 0x08 Umsebenzi	0x251~0x252   Uhlobo lwedatha	20ms	Akukho nanye
			Inkcazo
byte [0] byte [1]	Isantya sokujikeleza kweMoto siphezulu kwiibhithi ezisi-8 Isantya sokujikeleza kweMotor sisezantsi iibits ezi-8	isayinwe in16	Isantya sokujikeleza kweMoto Iyunithi:RPM
byte [2]	Igciniwe	–	0x00
byte [3]	Igciniwe	—	0x00
byte [4]	Igciniwe	—	0x00
byte [5]	Igciniwe	—	0x00
byte [6]	Igciniwe	–	0x00

iMotor-Speed ​​Low-Speed ​​Information Feedback Frame

Igama lomyalelo weMotor-Isantya esisezantsi soLwazi lweSakhelo seNgxelo
Ukuthumela indawo	Ukufumana indawo	ID	Umjikelo (ms)
I-chassis yokulawula ngocingo Ubude bedatha Isikhundla	I-chassis yokulawula ngocingo 0x08 Umsebenzi	0x261~0x262   Uhlobo lwedatha	100ms
			Inkcazo
byte [0] byte [1]	Igciniwe Igciniwe	–	0x00 0x00
byte [2]	Igciniwe	–	0x00
byte [3]	Igciniwe	—	0x00
byte [4]	Igciniwe	—	0x00
byte [5]	Ubume bomqhubi	—	Iinkcukacha ziboniswe kwiThebhile 3.12
byte [6]	Igciniwe	–	0x00
byte [7]	Igciniwe	–	0

Inkcazelo yoKungaphumeleli koLwazi

CAN uqhagamshelo lwentambo
IINGCACISO NGOCWANO, NCEDA UBHEKISELELE KWITHEYBHILE 2.2.

• Bomvu:VCC(ibhetri ilungile)
• Mnyama:GND(ibhetri ayinayo)
• Luhlaza:CAN_L
• Lubhelu:CAN_H

I-Schematic Diagram ye-Aviation Male Plug

Phawula:Eyona mveliso ifikelelekayo ngoku iqhele ukujikeleza i-5 A.

Ukuphunyezwa kolawulo lomyalelo we-CAN
Qalisa ngokuchanekileyo i-chassis ye-TRACER irobhothi ephathwayo, kwaye uvule i-FS RC transmitter. Emva koko, tshintshela kwimo yolawulo lomyalelo, okt ukuguqula imo ye-SWB ye-FS RC transmitter ukuya phezulu. Okwangoku, i-CHAssis ye-TRACER iya kwamkela umyalelo ovela kwi-interface ye-CAN, kwaye umamkeli unokuphinda acazulule imeko yangoku ye-chassis kunye nedatha yexesha lokwenyani eyondliwe kwibhasi ye-CAN. Ngomxholo oneenkcukacha weprotocol, nceda ubhekisele kwiprotocol yonxibelelwano lwe-CAN.

Unxibelelwano usebenzisa RS232

Intshayelelo kwi-serial protocol
Lo ngumgangatho wonxibelelwano olulandelelanayo olwathi lwaqulunqwa ngokudibeneyo yi-Electronic Industries Association (EIA) kunye neBell System, abavelisi bemodem kunye nabavelisi betheminali yekhompyutha ngo-1970. (DTE) kunye nezixhobo zonxibelelwano lwedatha (DCE). Lo mgangatho ufuna ukusebenzisa i-25-pin ye-DB-25 isinxibelelanisi apho ipini nganye ichazwe kunye nomxholo wesignali ohambelanayo kunye namanqanaba omqondiso ahlukeneyo. Emva koko, i-RS232 yenziwa lula njenge-DB-9 isinxibelelanisi kwiiPC ze-IBM, ethe yaba ngumgangatho we-de facto ukusukela ngoko. Ngokubanzi, amazibuko e-RS-232 olawulo lwamashishini asebenzisa kuphela iintlobo ezi-3 zeentambo-i-RXD, i-TXD kunye ne-GND.

Uthotho lomyalezo olandelwayo

Iiparamitha ezisisiseko zonxibelelwano

Into	Ipharamitha
Ireyithi yeBaud	115200
Khangela	Akukho itsheki
Ubude bebhithi yedatha	8 amasuntswana
Yeka kancinci	1 bit

Iiparamitha ezisisiseko zonxibelelwano

Qala kancinci Ubude besakhelo somyalelo Uhlobo lwe-ID yedatha yeNdawo yeSakhelo seSakhelo
SOF		isakhelo_L	CMD_TYPE	CMD_ID	idatha [0] ... idatha[n]	isakhelo_id	itsheki_ixabiso
bhayi 1	bhayi 2	bhayi 3	bhayi 4	bhayi 5	byte 6 … byte 6+n	byte 7+n	byte 8+n
5A	A5

Iprothokholi ibandakanya ukuqala kancinci, ubude besakhelo, uhlobo lomyalelo wesakhelo, i-ID yomyalelo, indawo yedatha, isakhelo se-ID, kunye nokwakheka kwetshekhi. Apho, ubude besakhelo bubhekisa kubude obungabandakanyi isuntswana lokuqala kunye nokwakheka kwetshekhisum; i-checksum ibhekisa kwi-sum from start bit kuyo yonke idata ye-ID yesakhelo; i-ID yesakhelo lubalo lwelophu phakathi kwe-0 ukuya ku-255, eya kongezwa kanye xa umyalelo ngamnye uthunyelwe.

Umxholo weProtocol
Umyalelo wengxelo yesimo senkqubo

Igama lomyalelo Umyalelo wemeko yesimo senkqubo
Ukuthumela indawo	Ukufumana indawo	Umjikelo (ms) Ukufumana ixesha lokuphuma (ms)
I-chassis yokuqondisa ngocingo Ubude besakhelo Uhlobo lomyalelo	Iyunithi yokulawula ukwenza izigqibo 0x0a Umyalelo wengxelo (0xAA)	20ms	Akukho nanye
Isazisi somyalelo	0x01
Ubude bendawo yedatha	6
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0]	Ubume bangoku bomzimba wesithuthi	engatyikitywanga int8	0x00 Inkqubo kwimeko eqhelekileyo 0x01 Imo yongxamiseko yokumisa (ayivulelwanga) 0x01 Imeko engaphandle kweNkqubo
byte [1]	Ulawulo lwemowudi	engatyikitywanga int8	0x00 imowudi yokulawula kude 0x01 CAN imo yokulawula yomyalelo[1] 0x02 Uthotho lwendlela yokulawula izibuko
byte [2] byte [3]	Ibhetri ivoltagkwaye phezulu 8 bits Ibhetri ivoltage yehlisa 8 bits	engatyikitywanga int16	Eyona voltage X 10 (ngokuchaneka kwe-0.1V)
byte [4] byte [5]	Ulwazi lokusilela phezulu 8 bits Ulwazi lokusilela lungaphantsi kweebhithi ezisi-8	engatyikitywanga int16	[DescripSteioennofteFsaiflourredeIntafoilrsmation]

• @UMLAYEZO OMFUTSHANE EXESHA EXAMPIKHOWUDI
• @PARAM[IN] *IDATHA : ISALATHISI SESIMO SEDATHA YOMLAYEZO
• @PARAM[IN] LEN :UBUDE beDATHA YOMYALEZO
• @BUYISE IZIPHUMO ZOKUTSHEKISHA
• STATIC UINT8 AGILEX_SERIALMSGCHECKSUM(UINT8 *DATA, UINT8 LEN)
• I-UINT8 CHECKSUM = 0X00;
• FOR(UINT8 I = 0 ; I < (LEN-1); I++)
• I-CHECKSUM += IDATA[I];

Example ye-serial check algorithm ikhowudi

Inkcazelo yoKungaphumeleli koLwazi
Byte	Kancinci	Intsingiselo
byte [4]         byte [5]     [1]: Th abancedisi	kancinci [0]	Jonga imposiso yomyalelo wolawulo lwe-CAN (0: Akukho kusilela 1: Ukusilela)
	kancinci [1]	I-alam yemoto iqhube ngaphezulu kobushushu[1] (0: Akukho vusi 1: I-alam) Ubushushu bukhawulelwe kuma-55℃
	kancinci [2]	I-alam yangoku yeMotor[1] (0: Akukho vusi 1: I-alam) Ixabiso elisebenzayo ngoku 15A
	kancinci [3]	Ibhetri ingaphantsi komthamotage alarm (0: Akukho alarm 1: Alamu) Ialam voltagI-22.5V
	kancinci [4]	Igciniwe, engagqibekanga 0
	kancinci [5]	Igciniwe, engagqibekanga 0
	kancinci [6]	Igciniwe, engagqibekanga 0
	kancinci [7]	Igciniwe, engagqibekanga 0
	kancinci [0]	Ibhetri ingaphantsi komthamotage ukusilela (0: Akukho ukusilela 1: Ukusilela) Protective voltagI-22V
	kancinci [1]	Ibhetri ngaphezulu kwevoltagUkusilela kwe-e (0: Akukho kusilela 1: Ukusilela)
	kancinci [2] kancinci [3] kancinci [4]	No.1 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukusilela) No.2 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukungaphumeleli) No.3 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukusilela)
	kancinci [5]	No.4 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukusilela)
	kancinci [6] kancinci [7] ngokufanayo ve	Ukhuseleko lwemoto ngaphezulu kobushushu[2] (0: Akukho khuseleko 1: Ukhuseleko) Ubushushu bukhawulelwe kuma-65℃ Ukhuseleko lweMotor over-current[2] (0: Akukho khuseleko 1: Ukhuseleko) Ixabiso langoku elisebenzayo 20A iinguqulelo zerobhothi chassis inguqulelo yefirmware emva kweV1.2.8 ziyaxhaswa, kodwa iinguqulelo zangaphambili kufuneka

1. Iinguqulelo ezilandelayo ze-robot chassis firmware version emva kwe-V1.2.8 zixhaswa, kodwa iinguqulelo zangaphambili kufuneka zihlaziywe ngaphambi kokuba zixhaswe.
2. I-alamu yobushushu obungaphezulu kwe-motor drive kunye ne-alam ye-motor over-current ayizukusetyenzwa ngaphakathi kodwa isetiwe nje ukuze ibonelele ngekhompyuter ephezulu ukuba igqibezele ukusetyenzwa kwangaphambili. Ukuba ukuqhuba ngaphezulu-ngoku kwenzeka, kucetyiswa ukunciphisa isantya sesithuthi; ukuba ubushushu obugqithisileyo buyenzeka, kucetyiswa ukuba kuncitshiswe isantya kuqala kwaye ulinde ubushushu bunciphe. Le bit yeflegi iya kubuyiselwa kwimeko yesiqhelo njengoko ubushushu buyancipha, kwaye i-alarm yangoku iya kususwa ngokusebenzayo xa ixabiso langoku libuyiselwe kwimeko yesiqhelo;
3. Ukukhuselwa kobushushu obungaphezulu kobushushu bemoto kunye nokhuseleko lwangoku lwemoto luya kucutshungulwa ngaphakathi. Xa iqondo lobushushu lemoto liphezulu kunobushushu obukhuselayo, imveliso yokuqhuba iya kuthintelwa, isithuthi siya kumisa kancinci, kwaye ixabiso lolawulo lomyalelo wolawulo lwentshukumo liya kuba lingasebenzi. Le bit yeflegi ayizukususwa ngokusebenzayo, efuna ikhompyutha ephezulu ukuthumela umyalelo wokucima ukhuseleko lokusilela. Emva kokuba umyalelo ucinyiwe, umyalelo wokulawula intshukumo unokwenziwa kuphela ngokuqhelekileyo.

Umyalelo wolawulo lwentshukumo

Igama lomyalelo	Umyalelo woLawulo lweMovement
Ukuthumela indawo	Ukufumana indawo	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
I-chassis yokuqondisa ngocingo Ubude besakhelo Uhlobo lomyalelo	Iyunithi yokulawula ukwenza izigqibo 0x0A Umyalelo wengxelo (0xAA)	20ms	Akukho nanye
Isazisi somyalelo	0x02
Ubude bendawo yedatha	6
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0] byte [1]	Isantya esihambayo siphezulu kwiibhithi ezisi-8 Isantya esishukumayo sisezantsi kwiibits ezi-8	isayinwe in16	Isantya esisesona X 1000 (ngokuchaneka kwe 0.001m/s)
byte [2] byte [3]	Isantya esijikelezayo siphezulu 8 bits Isantya sokujikeleza sisezantsi kwi-8 bits	isayinwe in16	Isantya esisesona X 1000 (ngokuchaneka kwe 0.001rad/s)
byte [4]	Igciniwe	–	0x00
byte [5]	Igciniwe	–	0x00

Umyalelo wolawulo lwentshukumo

Umyalelo weGama loLawulo Umyalelo
Ukuthumela indawo	Ukufumana indawo	Umjikelo (ms)	Ukufumana-ixesha lokuphuma(ms)
Iyunithi yolawulo lokwenza izigqibo Ubude besakhelo Uhlobo lomyalelo	Indawo yeChassis 0x0A Umyalelo wokulawula (0x55)	20ms	Akukho nanye
Isazisi somyalelo	0x01
Ubude bendawo yedatha	6
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo 0x00 Imowudi yokulawula kude
byte [0]	Imo yokulawula	engatyikitywanga int8	0x01 CAN imo yokulawula yomyalelo[1] 0x02 Uthotho lwemowudi yokulawula izibuko Jonga inqaku le-2 ngeenkcukacha*
byte [1]	Ukungaphumeleli ukususa umyalelo	engatyikitywanga int8	Esona santya siphezulu 1.5m/s, ixabiso loluhlu (-100, 100)
byte [2]	Isantya somgca ngokwepesentitage	isayinwe in8	Ubuninzi besantya 0.7853rad/s, uluhlu lwexabiso (-100, 100)
byte [3]	Isantya se-angulartage	isayinwe in8	0x01 0x00 imowudi yolawulo olukude INOMBOLO yemowudi yokulawula[1] 0x02 Uthotho lwendlela yokulawula izibuko Jonga iNqaku le-2 ngeenkcukacha*
byte [4]	Igciniwe	–	0x00
byte [5]	Igciniwe	–	0x00

No.1 motor drive ulwazi isakhelo ingxelo

Igama lomyalelo	No.1 Motor Drive Information Feedback Frame
Ukuthumela indawo	Ukufumana indawo	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
I-chassis yokuqondisa ngocingo Ubude besakhelo Uhlobo lomyalelo	Iyunithi yokulawula ukwenza izigqibo 0x0A Umyalelo wengxelo (0xAA)	20ms	Akukho nanye
Isazisi somyalelo	0x03
Ubude bendawo yedatha	6
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0] byte [1]	No.1 drive yangoku ephezulu 8 bits No.1 drive yangoku ezantsi 8 bits	engatyikitywanga int16	Okwenziweyo ngoku X 10 (ngokuchaneka kwe-0.1A)
byte [2] byte [3]	No.1 drive isantya sokujikeleza phezulu 8 bits No.1 drive isantya sokujikeleza ezantsi 8 bits	isayinwe in16	Oyena ndoqo wesantya se-motor shaft (RPM)
byte [4]	No.1 hard disk drive (HDD) lobushushu	isayinwe in8	Obona bushushu (ngokuchaneka kwe-1℃)
byte [5]	Igciniwe	—	0x00

No.2 motor drive ulwazi isakhelo ingxelo

Igama lomyalelo	No.2 Motor Drive Information Feedback Frame
Ukuthumela indawo	Ukufumana indawo	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
I-chassis yokuqondisa ngocingo Ubude besakhelo Uhlobo lomyalelo	Iyunithi yokulawula ukwenza izigqibo 0x0A Umyalelo wengxelo (0xAA)	20ms	Akukho nanye
Isazisi somyalelo	0x04
Ubude bendawo yedatha	6
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0] byte [1]	No.2 drive yangoku ephezulu 8 bits No.2 drive yangoku ezantsi 8 bits	engatyikitywanga int16	Okwenziweyo ngoku X 10 (ngokuchaneka kwe-0.1A)
byte [2] byte [3]	No.2 drive isantya sokujikeleza phezulu 8 bits No.2 drive isantya sokujikeleza ezantsi 8 bits	isayinwe in16	Oyena ndoqo wesantya se-motor shaft (RPM)
byte [4]	No.2 hard disk drive (HDD) lobushushu	isayinwe in8	Obona bushushu (ngokuchaneka kwe-1℃)
byte [5]	Igciniwe	—	0x00

Isakhelo sokulawula ukukhanya

Igama lomyalelo weSakhelo sokuLawula ukuKhanya
Ukuthumela indawo	Ukufumana indawo	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
Iyunithi yolawulo lokwenza izigqibo Ubude besakhelo Uhlobo lomyalelo	Indawo yeChassis 0x0A Umyalelo wokulawula (0x55)	20ms	500ms
Isazisi somyalelo	0x02
Ubude bendawo yedatha	6
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0]	Ulawulo lokukhanyisa luvumela iflegi	engatyikitywanga int8	0x00 Umyalelo wolawulo awusebenzi 0x01 Ulawulo lokukhanyisa luvuleleke
byte [1]	Imowudi yokukhanya yangaphambili	engatyikitywanga int8	0x010 NOC 0x03 Us0exr-0d2eBfiLnemdobdreightness
byte [2]	Ukuqaqamba ngokwesiko kwesibane sangaphambili	engatyikitywanga int8	[0, 100]r,ewfehresrteo0mreafxeimrsutomnboribgrhigtnhetnssess, 0x00 NC
byte [3]	Imowudi yokukhanya yangasemva	engatyikitywanga int8   engatyikitywanga int8	0x01 NO 0x03 0x02 imo ye-BL Ukukhanya okuchazwe ngumsebenzisi [0, ], apho u-0 ebhekisa ekungaqaqambi,
byte [4]	Ukuqaqamba ngokwesiko kokukhanya ngasemva		I-100 ibhekisa kukukhanya okuphezulu
byte [5]	Igciniwe	—	0x00

Isakhelo sengxelo yokulawula ukukhanya

Igama lomyalelo iSakhelo seNgxelo yoLawulo lokukhanyisa
Ukuthumela indawo	Ukufumana indawo	Umjikelo (ms)	Ukufumana ixesha lokuphuma (ms)
I-chassis yokulawula ngocingo Ubude besakhelo Udidi lomyalelo	Iyunithi yokulawula ukwenza izigqibo 0x0A Umyalelo wengxelo (0xAA)	20ms	Akukho nanye
Isazisi somyalelo	0x07
Ubude bendawo yedatha	6
Isikhundla	Umsebenzi	Uhlobo lwedatha	Inkcazo
byte [0]	Ulawulo lokukhanyisa lwangoku luvumela iflegi	engatyikitywanga int8	0x00 Umyalelo wolawulo awusebenzi 0x01 Ulawulo lokukhanyisa luvuleleke
byte [1]	Imowudi yokukhanya yangoku yangaphambili	engatyikitywanga int8	0x00 NC 0x01 NO I-0x02 imo ye-BL 0x03 Ukukhanya okuchazwe ngumsebenzisi [0, ], apho u-0 ebhekisa ekungaqaqambi,
byte [2]	Ukuqaqamba ngokwesiko kwangoku kokukhanya okungaphambili	engatyikitywanga int8	I-100 ibhekisa kukukhanya okuphezulu
byte [3]	Imowudi yokukhanya yangasemva yangoku	engatyikitywanga int8   engatyikitywanga int8	0x00 NC 0x01 NO 0x02 BL imowudi [0, 0x03] Ukunyaniseka okuchazwe ngumsebenzisi, ], apho u-0 ebhekisa ku-t akukho kuqaqamba
byte [4] byte [5]	Ukukhanya ngokwesiko kwangoku kokukhanya okungasemva Igciniwe	—	100 ibhekisa ku m0ax0im0 um ukukhanya

Example data
I-chassis ilawulwa ukuba iqhube phambili kwisantya somgca we-0.15m / s, apho idatha ethile iboniswa ngolu hlobo lulandelayo.

Qala kancinci		Flernamgthe	Comtympeand	ComImDand	Indawo yedatha			Isakhelo se-ID	cCohmepcoksitmion
bhayi 1	bhayi 2	bhayi 3	bhayi 4	bhayi 5	bhayi 6	….	byte 6+n	byte 7+n	byte 8+n
0x5A	0xA5	0x0A	0x55	0x01	….	….	….	0x00	0x6B

Umxholo wommandla wedatha uboniswa ngolu hlobo lulandelayo:

Uluhlu olupheleleyo lwedatha lu: 5A A5 0A 55 01 02 00 0A 00 00 00 00 6B

Uqhagamshelo lothotho
Khupha intambo yothotho ye-USB-ukuya-RS232 kwikhithi yesixhobo sethu sonxibelelwano ukuze uyiqhagamshele kwi-serial port ekupheleni ngasemva. Emva koko, sebenzisa isixhobo se-serial port ukuseta izinga le-baud elihambelanayo, kwaye uqhube uvavanyo kunye ne-examplo mhla unikwe ngasentla. Ukuba i-RC transmitter ivuliwe, kufuneka itshintshelwe kwindlela yokulawula umyalelo; ukuba i-RC transmitter icinyiwe, thumela ngokuthe ngqo umyalelo wolawulo. Kufuneka kuqatshelwe ukuba, umyalelo kufuneka uthunyelwe ngamaxesha, kuba ukuba i-chassis ayizange ifumane umyalelo we-serial port emva kwe-500ms, iya kungena kwisimo sokukhusela esinqanyuliweyo.

Uphuculo lweFirmware
Ichweba le-RS232 kwi-TRACER linokusetyenziswa ngabasebenzisi ukuphucula i-firmware yomlawuli oyintloko ukuze kufumaneke ukulungiswa kwe-bugfixes kunye neempawu zokuphucula. Isicelo somthengi wePC esinomzobo wojongano lomsebenzisi sinikezelwe ukunceda ukwenza inkqubo yohlaziyo ikhawuleze kwaye igudiswe. Umfanekiso wesi sicelo uboniswe kuMfanekiso 3.3.

Ukuphucula ukulungiswa

• Uthotho lwentambo X1
• I-USB-to-serial port X 1
• I-TRACER chassis X 1
• Ikhompyutha (inkqubo yokusebenza yeWindows) X 1

Isoftware yohlaziyo lweFirmware
https://github.com/agilexrobotics/agilex_firmware

Inkqubo yokuphucula

• Ngaphambi koqhagamshelo, qinisekisa ukuba i-chassis yerobhothi icinyiwe;
• Qhagamshela intambo yesiriyali kwi-serial port kwisiphelo esingasemva se-TRACER chassis;
• Qhagamshela intambo yesiriyali kwikhompyuter;
• Vula isoftware yomxhasi;
• Khetha inombolo yezibuko;
• Amandla kwi-CHAssis ye-TRACER, kwaye ngokukhawuleza ucofe ukuqalisa uxhulumaniso (i-TRACER chassis iya kulinda i-6s phambi kombane; ukuba ixesha lokulinda lingaphezulu kwe-6s, liya kungena kwisicelo); ukuba uxhulumaniso luphumelela, "uxhulumaniso ngempumelelo" luya kuhanjiswa kwibhokisi yokubhaliweyo;
• Layisha umgqomo file;
• Cofa iqhosha lokuPhucula, kwaye ulinde ukukhawuleziswa kokugqitywa kophuculo;
• Nciphisa intambo yesiriyali, cima i-chassis, emva koko ucime umbane uphinde uphinde uphinde.

Ujongano loMxumi woPhuculo lweFirmware

Ukulumkela

Eli candelo libandakanya ezinye izilumkiso ekufuneka zithathelwe ingqalelo kusetyenziso nophuhliso lweTRACER.

Ibhetri

• Ibhetri ebonelelwe nge-TRACER ayihlawuliswanga ngokupheleleyo kwi-factory setting, kodwa amandla ayo athile angabonakaliswa kwi-voltmeter ekupheleni kwe-TRACER chassis okanye ifundwe nge-CAN yonxibelelwano lwebhasi. Ukutshajwa ngokutsha kwebhetri kunokuyekwa xa i-LED eluhlaza kwitshaja ijika ibe luhlaza. Qaphela ukuba ugcina itshaja iqhagamshelwe emva kokuba i-LED eluhlaza ilayitiwe, itshaja iya kuqhubeka nokutshaja ibhetri malunga ne-0.1A yangoku malunga nemizuzu engama-30 ngaphezulu ukufumana ibhetri ngokupheleleyo.
• Nceda ungahlawulisi ibhetri emva kokuba amandla ayo ephelile, kwaye nceda uhlawule ibhetri ngexesha xa i-alamu yezinga lebhetri ephantsi ivuliwe;
• Iimeko zokugcina ezizinzileyo: Obona bushushu bungcono bokugcinwa kwebhetri yi-20℃ ukuya kwi-60℃; kwimeko yogcino olungasetyenziswanga, ibhetri kufuneka itshajwe kwakhona kwaye itshajwe kanye malunga neenyanga ezi-2, emva koko igcinwe kumthamo opheleleyo.tage-state. Nceda ungayifaki ibhetri emlilweni okanye ushushubeze ibhetri, kwaye nceda ungayigcini ibhetri kwindawo yobushushu obuphezulu;
• Ukutshaja: Ibhetri kufuneka itshajwe ngetshaja yelithium ezinikeleyo; iibhetri ze-lithium-ion azikwazi ukuhlawuliswa ngaphantsi kwe-0 ° C (32 ° F) kunye nokuguqula okanye ukubuyisela iibhetri zokuqala akuvumelekanga ngokungqongqo.

Iingcebiso ezongezelelweyo zokhuseleko

• Ukuba kukho nakuphi na ukuthandabuza ngexesha lokusetyenziswa, nceda ulandele incwadana yomyalelo ehambelanayo okanye uqhagamshelane nabasebenzi bezobugcisa abanxulumeneyo;
• Ngaphambi kokusetyenziswa, nikela ingqalelo kwimeko yentsimi, kwaye uphephe ukusebenza kakubi okuya kubangela ingxaki yokhuseleko lwabasebenzi;
• Kwimeko yongxamiseko, cinezela iqhosha lokumisa likaxakeka kwaye ucime izixhobo;
• Ngaphandle kwenkxaso yobugcisa kunye nemvume, nceda musa ukuguqula ngokwakho isakhiwo sesixhobo sangaphakathi

Indawo yokusebenza

• Ubushushu bokusebenza beTRACER ngaphandle yi -10℃ ukuya ku 45 ℃;nceda ungayisebenzisi ngaphantsi kwe -10℃ nangaphezulu kwe 45℃ ngaphandle;
• Ubushushu bokusebenza be-TRACER ngaphakathi yi-0℃ ukuya kwi-42℃; Nceda ungayisebenzisi ngaphantsi kwe-0℃ nangaphezulu kwe-42℃ ngaphakathi;
• Iimfuno zokufuma okuhambelanayo kwindawo yokusetyenziswa kwe-TRACER zezi: ubuninzi be-80%, ubuncinane be-30%;
• Nceda ungayisebenzisi kwindawo engqongileyo kunye neegesi ezivuthayo kunye nezivuthayo okanye ezivaliweyo kwizinto ezinokutsha;
• Musa ukuyibeka kufuphi nezifudumezi okanye izinto zokufudumeza ezifana ne-resistors ezinkulu ezidibeneyo, njl.;
• Ngaphandle kwenguqulo elungiselelwe ngokukhethekileyo (iklasi yokukhusela i-IP eyenziwe ngokwezifiso), i-TRACER ayinabo ubungqina bamanzi, ngoko ke nceda ungayisebenzisi kwindawo enemvula, enekhephu okanye yamanzi;
• Umphakamo wendawo ekucetyiswayo yokusetyenziswa akufuneki udlule kwi-1,000m;
• Umahluko wobushushu phakathi kwemini nobusuku yendawo ekucetyiswayo yokusetyenziswa akufanele udlule kwi-25℃;

Iintambo zombane/zokwandiswa

• Xa uphethe kwaye umisa, nceda ungawi okanye usibeke phantsi isithuthi;
• Kubantu abangezongcali, nceda musa ukukhulula isithuthi ngaphandle kwemvume.

Amanye amanqaku

• Xa uphethe kwaye umisa, nceda ungawi okanye usibeke phantsi isithuthi;
• Kubantu abangezongcali, nceda musa ukukhulula isithuthi ngaphandle kwemvume

Q&A

• Q: I-TRACER iqalwe ngokuchanekileyo, kodwa kutheni i-RC ingakwazi ukulawula umzimba wesithuthi ukuba uhambe?
  A:Okokuqala, khangela ukuba unikezelo lwamandla okuqhuba lukwimeko eqhelekileyo, ingaba iswitshi yamandla okuqhuba icinezelwe ezantsi nokuba iiswitshi ze-E-stop zikhululiwe; emva koko, khangela ukuba imo yolawulo ekhethiweyo kunye nemowudi yokukhetha ephezulu ekhohlo kwi-transmitter ye-RC ichanekile.
• Q: Ulawulo olukude lwe-TRACER lukwimeko eqhelekileyo, kwaye ulwazi malunga nesimo se-chassis kunye nokuhamba kunokufunyanwa ngokuchanekileyo, kodwa xa i-protocol yesakhelo sokulawula ikhutshwe, kutheni imowudi yokulawula umzimba wesithuthi ingenakutshintshwa kwaye i-chassis iphendule kwi-protocol yesakhelo sokulawula. ?
  A: Ngokuqhelekileyo, ukuba i-TRACER inokulawulwa yi-RC transmitter, ithetha ukuba intshukumo ye-chassis iphantsi kolawulo olufanelekileyo; ukuba isakhelo sengxelo ye-chassis sinokumkelwa, ithetha ukuba ikhonkco lolwandiso lwe-CAN lukwimeko eqhelekileyo. Nceda ujonge isakhelo solawulo se-CAN esithunyelweyo ukuze ubone ukuba ukhangelo lwedatha luchanekile kwaye nokuba imo yolawulo ikwimo yolawulo lomyalelo.
• Q:TRACER inika i"beep-beep-beep..." isandi esisebenzayo, ukujongana njani nale ngxaki?
  A: Ukuba iTRACER inika le "beep-beep-beep" isandi ngokuqhubekayo, oko kuthetha ukuba ibhetri ikwivolthi ye-alam.tage-state. Nceda utshaje ibhetri ngexesha. Nje ukuba kuvele esinye isandi esinxulumeneyo, kunokubakho iimpazamo zangaphakathi. Unokujonga iikhowudi zempazamo ezinxulumeneyo ngebhasi ye-CAN okanye unxibelelane nabasebenzi bezobugcisa abanxulumeneyo.
• Umbuzo: Xa unxibelelwano luphunyezwa ngebhasi ye-CAN, umyalelo wempendulo ye-chassis ukhutshwe ngokuchanekileyo, kodwa kutheni isithuthi singaphenduli kumyalelo wolawulo?
  A:Kukho indlela yokhuseleko lonxibelelwano ngaphakathi kwe-TRACER, okuthetha ukuba i-chassis ibonelelwa ngokhuseleko lwangaphandle xa kusetyenzwa imiyalelo yolawulo lwangaphandle lwe-CAN. Masithi isithuthi sifumana isakhelo esinye seprotocol yonxibelelwano, kodwa ayifumani isakhelo esilandelayo somyalelo wolawulo emva kwe500ms. Kule meko, iya kungena kwimodi yokukhusela yonxibelelwano kwaye ibeke isantya kwi-0. Ngoko ke, imiyalelo evela kwikhompyutheni ephezulu kufuneka ikhutshwe ngamaxesha.

Imilinganiselo yeMveliso

Umzobo womzobo wemilinganiselo yangaphandle yemveliso

• gr@generationrobots.com
• +33 5 56 39 37 05
• www.generationrobots.com

Amaxwebhu / Izibonelelo

Iqela le-TRACER AgileX Robotics i-Autonomous Mobile Robot [pdf] Incwadi yokusebenzisa Iqela le-AgileX Robotics i-AgileX, i-AgileX, i-AgileX, iQela leRobhothi eliZimamelayo, iRobhothi eZimeleyo, iRobhothi ehambayo.

Iimbekiselo

• Incwadi yokusebenzisa