Ithimba le-TRACER AgileX Robotics I-Autonomous Mobile Robot
Lesi sahluko siqukethe ulwazi olubalulekile lokuphepha, ngaphambi kokuthi irobhothi livulwe okokuqala ngqa, noma yimuphi umuntu noma inhlangano kufanele ifunde futhi iqonde lolu lwazi ngaphambi kokusebenzisa idivayisi. Uma unemibuzo mayelana nokusetshenziswa, sicela usithinte ku support@agilex.ai. Sicela ulandele futhi usebenzise yonke imiyalelo yokuhlanganisa kanye nemihlahlandlela ezahlukweni zaleli bhukwana, okuyinto ebaluleke kakhulu. Kufanele kuqashelwe ngokukhethekile umbhalo ohlobene nezimpawu eziyisixwayiso.
Ulwazi Lokuphepha
Ulwazi olukule manuwali alubandakanyi ukuklama, ukufakwa nokusebenza kohlelo lokusebenza lwerobhothi oluphelele, futhi alufaki zonke izinto ezisetshenziswayo ezingase zithinte ukuphepha kwesistimu ephelele. Ukuklanywa nokusetshenziswa kwesistimu ephelele kudingeka kuhambisane nezidingo zokuphepha ezisungulwe kumazinga nemithetho yezwe lapho irobhothi lifakwe khona. Izihlanganisi ze-TRACER namakhasimende wokugcina anomthwalo wemfanelo wokuqinisekisa ukuthobela imithetho nezimiso ezisebenzayo zamazwe afanelekile, nokuqinisekisa ukuthi azikho izingozi ezinkulu ekufakweni okuphelele kwamarobhothi. Lokhu kubandakanya kodwa akukhawulelwe kokulandelayo
Ukusebenza kahle nokuzibophezela
- Yenza ukuhlolwa kwengozi yohlelo oluphelele lwamarobhothi.
- Xhumanisa izinto zokuphepha ezengeziwe zeminye imishini echazwe ukuhlolwa kobungozi ndawonye.
- Qinisekisa ukuthi ukudizayina nokufakwa kwayo yonke into esetshenziswayo yesistimu yerobhothi, okuhlanganisa isofthiwe nezinhlelo zehadiwe, kulungile.
- Le robhothi ayinalo irobhothi elihambahambayo elizimelayo eliphelele, okuhlanganisa kodwa elingakhawulelwe ekulweni nokushayisana okuzenzakalelayo, ukulwa nokuwa, isexwayiso sendlela yebhayoloji kanye neminye imisebenzi yokuphepha ehlobene. Imisebenzi ehlobene idinga abahlanganisi namakhasimende wokugcina ukuthi alandele imithethonqubo efanele kanye nemithetho nemithetho engenzeka yokuhlola ukuphepha. Ukuqinisekisa ukuthi irobhothi elithuthukisiwe alinazo izingozi ezinkulu kanye nezingozi zokuphepha ezinhlelweni zokusebenza.
- Qoqa wonke amadokhumenti ku-technical file: kufaka phakathi ukuhlolwa kobungozi kanye nale manuwali.
Ukucatshangelwa Kwemvelo
- Okokuqala, sicela ufunde leli bhukwana ngokucophelela ukuze uqonde okuqukethwe okuyisisekelo kokusebenza kanye nezici zokusebenza.
- Ngomsebenzi wesilawuli kude, khetha indawo evulekile uma kuqhathaniswa ongayisebenzisa i-TRACER, ngoba i-TRACER ayihlomekile nganoma iyiphi inzwa yokugwema izithiyo ezizenzakalelayo.
- Sebenzisa i-TRACER njalo ngaphansi -10℃~45℃ izinga lokushisa le-ambient.
- Uma i-TRACER ingalungiselelwe ngokuvikela okuhlukile kwe-IP yangokwezifiso, ukuvikelwa kwayo kwamanzi nothuli kuzoba IP22 KUPHELA.
Uhlu Lokuhlola Umsebenzi Wangaphambili
- Qiniseka ukuthi idivayisi ngayinye inamandla anele.
- Qiniseka ukuthi i-Bunker ayinawo amaphutha asobala.
- Hlola ukuthi ibhethri yesilawuli kude sinamandla anele yini.
- Uma usebenzisa, qiniseka ukuthi iswishi yokumisa isimo esiphuthumayo ikhululiwe.
Ukusebenza
- Emsebenzini wokulawula kude, qiniseka ukuthi indawo ezungezile ivulekile.
- Yenza isilawuli kude ngaphakathi kwebanga lokubonakala.
- Umthwalo omkhulu we-TRACER ngu-100KG. Uma usebenzisa, qinisekisa ukuthi umthwalo okhokhelwayo aweqi ku-100KG.
- Uma ufaka isandiso sangaphandle ku-TRACER, qinisekisa indawo emaphakathi yesisindo sesandiso futhi uqiniseke ukuthi siphakathi nendawo yokuzungezisa.
- Sicela ukhokhise ngesikhathi lapho idivayisi ivolumutage ingaphansi kuka-22.5V.
- Uma i-TRACER inokukhubazeka, sicela uyeke ngokushesha ukuyisebenzisa ukuze ugweme ukulimala kwesibili.
- Uma i-TRACER ibe nenkinga, sicela uxhumane nochwepheshe abafanelekile ukuze ubhekane nayo, ungasibambeli wedwa leso sici.
- Hlala usebenzisa i-SCOUT MINI(OMNI) endaweni enezinga lokuvikela elidingwa okokusebenza.
- Ungaphushi i-SCOUT MINI(OMNI) ngokuqondile.
- Uma ushaja, qiniseka ukuthi izinga lokushisa le-ambient lingaphezulu kuka-0℃
Isondlo
Ukuze uqinisekise umthamo wokugcina webhethri, ibhethri kufanele igcinwe ngaphansi kukagesi, futhi kufanele ishajwe njalo uma ingasetshenziswa isikhathi eside.
I-MINIAGV (TRACER) Isingeniso
I-TRACER yakhelwe njenge-UGV enezinjongo eziningi enezimo ezihlukene zohlelo ezicatshangelwayo: ukwakheka kwe-modular; ukuxhumeka okuguquguqukayo; isistimu yemoto enamandla ekwazi ukulayisha okuphezulu.Inhlanganisela ye-chassis enamasondo amabili ehlukile kanye ne-hub motor ingayenza ihambe kalula endlini.Izingxenye ezengeziwe ezifana nekhamera ye-stereo, i-laser radar, i-GPS, i-IMU kanye ne-robotic manipulator ingafakwa ngokuzithandela ku-TRACER ukuze ithuthuke. izinhlelo zokusebenza zokuzulazula nezokubona ngekhompyutha. I-TRACER ivamise ukusetshenziselwa ukufundisa ukushayela okuzimele kanye nocwaningo, ukuzulazula kwezokuphepha kwangaphakathi nangaphandle nezokuthutha, ukubala okumbalwa kuphela.
Uhlu lwezingxenye
| Igama | Ubuningi |
| Umzimba werobhothi we-TRACER | x1 |
| Ishaja yebhethri(AC 220V) | x1 |
| Isilawuli kude (uyazikhethela) | x1 |
| Ikhebula le-USB kuya ku-serial | x1 |
| Ipulaki yendiza (owesilisa, amaphini angu-4) | x1 |
| Imojuli yokuxhumana ye-USB ukuya ku-CAN | x1 |
Imininingwane yobuchwepheshe
Izidingo zokuthuthukiswa
I-RC Transmitter inikezwa (ongakukhetha) kusilungiselelo sefekthri se-TRACER, esivumela abasebenzisi ukuthi balawule i-chassis yerobhothi ukuthi inyakaze futhi ijike; Izixhumanisi ze-CAN ne-RS232 ku-TRACER zingasetshenziselwa ukwenza ngokwezifiso komsebenzisi
Izisekelo
Lesi sigaba sinikeza isingeniso esifushane seplathifomu yamarobhothi eselula ye-TRACER, njengoba kukhonjisiwe
I-TRACER Idizayinelwe njengemojula ehlakaniphile ephelele, yona kanye ne-DC hub motor enamandla, eyenza i-chassis yerobhothi i-TRACER ihambe kalula endaweni eyisicaba yasendlini. Imishayo yokunqanda ukushayisana igxunyekwa eduze kwemoto ukuze kuncishiswe ukulimala okungenzeka emzimbeni wemoto ngesikhathi ishayisana. Izibani zifakwe phambi kwemoto, ukukhanya kwayo okumhlophe kuklanyelwe ukukhanyisa ngaphambili. Iswishi yokumisa izimo eziphuthumayo ifakwe ekugcineni kwemoto, engavala amandla erobhothi ngokushesha lapho irobhothi liziphatha ngendlela engavamile. Izixhumi ezingangeni emanzini zamandla e-DC nokuxhumana zokuxhumana zihlinzekwa ngemuva kwe-TRACER, ezingavumeli kuphela ukuxhumana okuguquguqukayo phakathi kwerobhothi nezingxenye zangaphandle kodwa futhi ziqinisekisa ukuvikelwa okudingekayo ngaphakathi kwerobhothi ngisho nangaphansi kwezimo ezinzima zokusebenza. Ikhompathimenti evulekile ye-bayonet ibekelwe abasebenzisi phezulu.
Inkomba yesimo
Abasebenzisi bangakwazi ukuhlonza isimo somzimba wemoto nge-voltmeter nezibani ezifakwe ku-TRACER. Ukuze uthole imininingwane
Imiyalo mayelana nezindawo zokusebenzela zikagesi
Isixhumi esibonakalayo sikagesi sangemuva
Ukuxhumana okunwetshiwe ekugcineni okungemuva kuboniswa kuMfanekiso 2.3, lapho i-Q1 iyimbobo ye-serial ye-D89; I-Q2 iwumshini wokumisa; I-Q3 iyimbobo yokushaja amandla; I-Q4 iyisixhumi esibonakalayo esinwetshiwe se-CAN kanye nogesi we-24V; I-Q5 iyimitha kagesi; I-Q6 iyiswishi ejikelezayo njengesishintshi esikhulu sikagesi.
Iphaneli elingemuva linikeza isixhumi esibonakalayo sokuxhumana se-CAN esifanayo kanye nesixhumi esibonakalayo samandla esingu-24V nephezulu (ezimbili zazo zixhumeke ngaphakathi). Izincazelo zephinikhodi zinikeziwe
Imiyalo yesilawuli kude
I-FS RC Transmitter iyinsizakalo yokuzithandela ye-TRACER yokulawula irobhothi mathupha. I-transmitter iza nokucushwa kwesandla sokunxele. Incazelo kanye nomsebenzi
Ngaphezu kwezinti ezimbili i-S1 ne-S2 ezisetshenziselwa ukuthumela imiyalo yesivinini somugqa kanye ne-angular, ukushintsha okubili kunikwe amandla ngokuzenzakalelayo: I-SWB yokukhetha imodi yokulawula (isikhundla esiphezulu semodi yokulawula umyalo kanye nendawo ephakathi yemodi yesilawuli kude), i-SWC yokukhanyisa. ukulawula. Izinkinobho ezimbili ze-POWER zidinga ukucindezelwa futhi zibanjwe ndawonye ukuze uvule noma uvale isidlulisi.
Iziqondiso mayelana nezidingo zokulawula nokunyakaza
Njengoba kuboniswe kuMfanekiso 2.7, indikimba yemoto ye-TRACER ihambisana ne-eksisi engu-X yesistimu yokuhlanganisa ireferensi emisiwe. Ngemva kwale ngqungquthela, isivinini somugqa esiphozithivu sihambisana nokuya phambili kwemoto eduze nendawo ye-eksisi engu-x futhi isivinini se-angular esiphozithivu sihambisana nokuzungezisa kwesokudla okuqondile mayelana ne-axis engu-z. Kumodi yokulawula okwenziwa ngesandla nge-RC transmitter, ukusunduza induku ye-C1 (imodeli ye-DJI) noma induku ye-S1 (imodeli ye-FS) phambili kuzokhiqiza umyalo wesivinini somugqa oqondile futhi iphushe i-C2 (imodeli ye-DJI) kanye ne-S2 (imodeli ye-FS) kwesokunxele. izokhiqiza umyalo wesivinini se-angular
Ukuqalisa
Lesi sigaba sethula ukusebenza okuyisisekelo nokuthuthukiswa kwenkundla ye-TRACER kusetshenziswa isixhumi esibonakalayo sebhasi ye-CAN.
Sebenzisa nokusebenza
Hlola
- Hlola isimo somzimba wemoto. Hlola ukuthi kukhona yini okudidayo okubalulekile; uma kunjalo, sicela uxhumane nabasebenzi besevisi yangemuva kokudayiswa ukuze uthole ukwesekwa;
- Hlola isimo sezimo eziphuthumayo zokushintshwa kokumisa. Qiniseka ukuthi zombili izinkinobho zokumisa izimo eziphuthumayo zikhishiwe.
Vala shaqa
Zungezisa iswishi yokhiye ukuze unqamule ukunikezwa kwamandla;
Qalisa
- Isimo sokushintsha kwesimo esiphuthumayo. Qinisekisa ukuthi izinkinobho zokumisa izimo eziphuthumayo zonke zikhululiwe;
- Zungezisa inkinobho yokhiye (Q6 kuphaneli kagesi), futhi ngokuvamile, i-voltmeter izobonisa ivolumu yebhethri elungiletagU-e namalambu angaphambili nangemuva azokhanyiswa womabili
Isitobhi esiphuthumayo
Cindezela phansi inkinobho yokucindezela izimo eziphuthumayo kokubili kwesokunxele nakwesokudla somzimba wemoto yangemuva;
Inqubo yokusebenza eyisisekelo yesilawuli kude
Ngemuva kokuthi i-chassis yerobhothi yeselula ye-TRACER iqaliswe kahle, vula isidlulisi se-RC bese ukhetha imodi yesilawuli kude. Bese, ukunyakaza kweplatifomu ye-TRACER kungalawulwa yi-RC transmitter.
Iyashaja
I-TRACER ifakwe ishaja engu-10A ngokuzenzakalelayo ukuze ihlangabezane nesidingo sokushajwa kabusha kwamakhasimende.
Inqubo enemininingwane yokusebenza yokushaja ikhonjiswe kanje
- Qiniseka ukuthi ugesi we-TRACER chassis ucishiwe. Ngaphambi kokushaja, sicela uqinisekise ukuthi i-Q6 (iswishi yokhiye) kukhonsoli yokulawula engemuva ivaliwe;
- Faka ipulaki yeshaja kusixhumi esibonakalayo sokushaja se-Q3 kuphaneli yokulawula yangemuva;
- Xhuma ishaja kugesi bese uvula iswishi eshajani. Khona-ke, irobhothi lingena esimweni sokushaja.
Ukuxhumana kusetshenziswa i-CAN
I-TRACER ihlinzeka nge-CAN kanye ne-RS232 interface yokwenza ngokwezifiso umsebenzisi. Abasebenzisi bangakhetha okukodwa kwalokhu kuxhumana ukuze balawule umyalo phezu kwendikimba yemoto.
INGABE umlayezo olandelwayo
I-TRACER yamukela izinga lokuxhumana le-CAN2.0B elinezinga lokuxhumana le-baud elingu-500K nefomethi yomlayezo we-Motorola. Ngesixhumi esibonakalayo sebhasi ye-CAN yangaphandle, isivinini esihambayo somugqa kanye nesivinini esijikelezayo se-angular se-chassis singalawulwa; I-TRACER izophendula ngolwazi lwamanje lwesimo sokunyakaza kanye nolwazi lwesimo se-chassis yayo ngesikhathi sangempela. Iphrothokholi ihlanganisa uhlaka lwempendulo yesimo sesistimu, uhlaka lwempendulo yokulawula ukunyakaza kanye nohlaka lokulawula, okuqukethwe kwakho kuboniswa kanje: Umyalo wempendulo yesimo sesistimu uhlanganisa ulwazi lwempendulo mayelana nesimo samanje somzimba wemoto, isimo semodi yokulawula, umthamo webhethri.tage kanye nokwehluleka kwesistimu. Incazelo inikezwe kuThebula 3.1.
Uhlaka Lwempendulo Yesimo Sesistimu ye-TRACER Chassis
| I-Command Name System Feedback Command | ||||
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo
Ubude bedatha Isikhundla |
I-Decoisniotrno-lmuankiting 0x08
Umsebenzi |
0x151
Uhlobo lwedatha |
20ms | Lutho |
|
Incazelo |
||||
|
ibhayithi [0] |
Cuvrerheniclestbaotudsyof |
engasayiniwe int8 |
0x00 Uhlelo olusesimweni esivamile 0x01 Imodi yokumisa izimo eziphuthumayo 0x02 Okuhlukile kwesistimu | |
|
ibhayithi [1] |
Ukulawula imodi |
engasayiniwe int8 |
0x00 Imodi yesilawuli kude 0x01 CAN imodi yokulawula umyalo[1] 0x02 Imodi yokulawula imbobo ye-serial | |
| ibhayithi [2] ibhayithi [3] | Ibhethri voltage ephakeme 8 bits Ibhethri voltage yehlisa 8 bits | engasayiniwe int16 | Ivolumu yangempelatage X 10 (ngokunemba kwe-0.1V) | |
| ibhayithi [4] | Ulwazi lokwehluleka | engasayiniwe int16 | Bona amanothi ukuze uthole imininingwane【Ithebula 3.2】 | |
| ibhayithi [5] | Igodliwe | – | 0x00 | |
| ibhayithi [6] | Igodliwe | – | 0x00 | |
| ibhayithi [7] | Bala i-paritybit (ukubala) | engasayiniwe int8 | 0 - 255 ukubala amalophu | |
Incazelo Yolwazi Lokuhluleka
Umyalo wohlaka lwempendulo yokulawula ukunyakaza uhlanganisa impendulo yesivinini somugqa wamanje kanye nesivinini se-angular somzimba wemoto ehambayo. Ukuze uthole imininingwane enemininingwane yephrothokholi, sicela ubheke kuThebula 3.3.
Uhlaka Lwempendulo Yokulawula Ukunyakaza
| I-Command Name Movement Control Feedback Command | ||||
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo | Iyunithi yokulawula yokwenza izinqumo | 0x221 | 20ms | Lutho |
| Ubude bedatha | 0x08 | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0]
ibhayithi [1] |
Isivinini esihambayo siphakeme ngamabhithi ayi-8
Isivinini sokunyakaza sehlisa amabhithi ayi-8 |
usayine i-int16 | Iyunithi yesivinini semoto:mm/s | |
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokujikeleza siphezulu ngamabhithi ayi-8
Isivinini sokujikeleza sehlisa amabhithi ayi-8 |
usayine i-int16 | Iyunithi yesivinini se-angular yemoto:0.001rad/s | |
| ibhayithi [4] | Igodliwe | – | 0x00 | |
| ibhayithi [5] | Igodliwe | – | 0x00 | |
| ibhayithi [6] | Igodliwe | – | 0x00 | |
| ibhayithi [7] | Igodliwe | – | 0x00 | |
Uhlaka lokulawula luhlanganisa ukuvuleka kokulawula kwesivinini somugqa kanye nokulawula ukuvuleka kwesivinini se-angular. Ngokuqukethwe kwayo okuningiliziwe kwephrothokholi, sicela ubheke kuThebula 3.4.
Control Frame of Movement Control Command
| I-Command Name Control Command | ||||
| Ithumela inodi
I-chassis yokuqondisa ngentambo Ubude bedatha |
Ithola inodi ye-Chassis
0x08 |
ID 0x111 | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| 20ms | 500ms | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0] ibhayithi [1] | Ijubane elihambayo liphakeme amabhithi ayi-8 Isivinini esinyakazayo sehlisa amabhithi ayi-8 | usayine i-int16 | Iyunithi yesivinini semoto:mm/s | |
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokujikeleza siphezulu ngamabhithi ayi-8
Isivinini sokujikeleza sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini se-angular yemoto
Iyunithi:0.001rad/s |
|
| ibhayithi [4] | Igodliwe | — | 0x00 | |
| ibhayithi [5] | Igodliwe | — | 0x00 | |
| ibhayithi [6] | Igodliwe | — | 0x00 | |
| ibhayithi [7] | Igodliwe | — | 0x00 | |
Uhlaka lokulawula ukukhanya luhlanganisa isimo samanje sokukhanya okungaphambili. Ngokuqukethwe kwayo okuningiliziwe kwephrothokholi, sicela ubheke kuThebula 3.5.
Uhlaka Lokulawula Ukukhanyisa
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) Isikhathi sokuvala sokuthola (ms) | |
| I-chassis yokuqondisa ngocingo | Iyunithi yokulawula yokwenza izinqumo | 0x231 | 20ms | Lutho |
| Ubude bedatha | 0x08 | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0] | Isilawuli sokukhanyisa sivumela iflegi | engasayiniwe int8 | 0x00 umyalo wokulawula awuvumelekile
0x01 amandla okulawula ukukhanya |
|
| ibhayithi [1] | Imodi yokukhanya yangaphambili | engasayiniwe int8 | 0x002xB010 NmOC de
0x03 User-defiLnedobrightness |
|
| ibhayithi [2] | Ukukhanya ngokwezifiso kokukhanya okungaphambili | engasayiniwe int8 | [0, 100], lapho okuthi 0mreafxeimrsutomnboribgrhigtnhetnssess, 100 kubhekise ku | |
| ibhayithi [3] | Igodliwe | — | 0x00 | |
| ibhayithi [4] | Igodliwe | — | 0x00 | |
| ibhayithi [5] | Igodliwe | — | 0x00 | |
| ibhayithi [6] ibhayithi [7] | I-Paritybit yokubala egodliwe (isibalo) | –
engasayiniwe int8 |
0x00
0a- |
|
Uhlaka lwemodi yokulawula luhlanganisa ukusetha imodi yokulawula ye-chassis. Ngokuqukethwe kwayo okuningiliziwe, sicela ubheke kuThebula 3.7.
I-Control Mode Frame Instruction
Imodi yokulawula imiyalelo
Esimeni lapho isidluliseli se-RC sicishwa, imodi yokulawula ye-TRACER ihlelwa ngokuzenzakalelayo ukuze ibe yimodi yokulawula, okusho ukuthi i-chassis ingalawulwa ngokuqondile ngomyalo. Kodwa-ke, noma i-chassis ikumodi yokulawula umyalo, imodi yokulawula kumyalo idinga ukusethwa ku-0x01 ukuze usebenzise ngempumelelo umyalo wejubane. Uma isidluliseli se-RC sesivulwe futhi, sinezinga eliphezulu legunya lokuvikela isilawuli somyalo nokushintsha imodi yokulawula. Uhlaka lwendawo yesimo luhlanganisa umlayezo wephutha ocacile. Ngokuqukethwe kwayo okuningiliziwe, sicela ubheke kuThebula 3.8.
Isikhundla sesimo Umyalelo Wozimele
| Uhlaka lwesikhundla segama lomyalo | ||||
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) Isikhathi sokuvala sokuthola (ms) | |
| I-chassis yokuqondisa ngocingo
Ubude bedatha Isikhundla |
Iyunithi yokulawula ukwenza izinqumo 0x01
Umsebenzi |
0x441
Uhlobo lwedatha |
Lutho | Lutho |
|
Incazelo |
||||
| ibhayithi [0] | Imodi yokulawula | engasayiniwe int8 | 0x00 Sula wonke amaphutha 0x01 Sula amaphutha emoto 1 0x02 Sula amaphutha emoto 2 | |
Umyalelo Wempendulo Ye-Odometer
| Ithumela i-node Steer-by-wire chassis
Ubude bedatha |
Ukuthola iyunithi yokulawula yokwenza izinqumo
0x08 |
ID 0x311 | Umjikelezo (ms) 接收超时(ms) | |
| 20ms | Lutho | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0] | I-odometer yesondo eliphezulu kwesokunxele |
usayine i-int32 |
Idatha ye-odometer yesondo lesokunxele mm |
|
| ibhayithi [1] | I-odometer yesondo lesobunxele yesibili ephezulu | |||
| ibhayithi [2] | Isondo lesobunxele i-odometer yesibili ephansi kakhulu | |||
| ibhayithi [3] | I-odometer yesondo ephansi kwesokunxele | |||
| ibhayithi [4] | Isondo langakwesokudla i-odometer ephezulu kakhulu |
usayine ukungena32- |
Idatha ye-odometer yesondo langakwesokudla mm |
|
| ibhayithi [5] | Isondo langakwesokudla i-odometer yesibili ephezulu | |||
| ibhayithi [6] | Isondo langakwesokudla i-odometer yesibili ephansi kakhulu | |||
| ibhayithi [7] | I-odometer yesokudla ephansi kakhulu | |||
Ulwazi lwesimo se-chassis luzophendulwa; yini ngaphezulu, ulwazi mayelana motor. Uhlaka lwempendulo olulandelayo luqukethe ulwazi mayelana nenjini : Izinombolo ze-serial zamamotho angu-2 ku-chassis ziboniswa emfanekisweni ongezansi:
Uhlaka Lwempendulo Yemininingwane Yesivinini Esiphezulu
| Igama Lomyalo I-Motor High-speed Information Feedback Frame | ||||
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) Isikhathi sokuvala sokuthola (ms) | |
| I-chassis yokuqondisa ngentambo Ubude bedatha
Isikhundla |
I-chassis yokuqondisa ngocingo 0x08
Umsebenzi |
0x251~0x252
Uhlobo lwedatha |
20ms | Lutho |
|
Incazelo |
||||
| ibhayithi [0]
ibhayithi [1] |
Isivinini sokujikeleza kwezimoto siphakeme ngamabhithi ayi-8
Isivinini sokujikeleza kwezimoto sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sokujikeleza kwezimoto
Iyunithi: RPM |
|
| ibhayithi [2] | Igodliwe | – | 0x00 | |
| ibhayithi [3] | Igodliwe | — | 0x00 | |
| ibhayithi [4] | Igodliwe | — | 0x00 | |
| ibhayithi [5] | Igodliwe | — | 0x00 | |
| ibhayithi [6] | Igodliwe | – | 0x00 | |
Uhlaka Lwempendulo Yemininingwane Yejubane Eliphansi Lemoto
| Igama Lomyalo I-Motor Uhlaka Lwempendulo Yemininingwane Yesivinini Esiphansi | ||||
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) | |
| I-chassis yokuqondisa ngentambo Ubude bedatha
Isikhundla |
I-chassis yokuqondisa ngocingo 0x08
Umsebenzi |
0x261~0x262
Uhlobo lwedatha |
100ms | |
|
Incazelo |
||||
| ibhayithi [0]
ibhayithi [1] |
Igodliwe
Igodliwe |
– | 0x00
0x00 |
|
| ibhayithi [2] | Igodliwe | – | 0x00 | |
| ibhayithi [3] | Igodliwe | — | 0x00 | |
| ibhayithi [4] | Igodliwe | — | 0x00 | |
| ibhayithi [5] | Isimo somshayeli | — | Imininingwane ikhonjiswe kuThebula 3.12 | |
| ibhayithi [6] | Igodliwe | – | 0x00 | |
| ibhayithi [7] | Igodliwe | – | 0 | |
Incazelo Yolwazi Lokuhluleka
CAN uxhumano lwekhebula
UKUZE IZINCAZELO NGENXAMBO, SICELA UBHEKISELE ITHEBULA 2.2.
- Okubomvu:VCC (ibhethri iphozithivu)
- Mnyama:GND(ibhethri ayinayo)
- Okuluhlaza okwesibhakabhaka:CAN_L
- Okuphuzi:CAN_H
I-Schematic Diagram ye-Aviation Male Plug
Qaphela:Isilinganiso esiphezulu esifinyelelekayo samanje sicishe sibe ngu-5 A.
Ukwenziwa kokulawula komyalo we-CAN
Qalisa kahle i-chassis yerobhothi leselula le-TRACER, bese uvule i-FS RC transmitter. Bese, shintshela kumodi yokulawula umyalo, okungukuthi ukuguqula imodi ye-SWB ye-FS RC transmitter iye phezulu. Kuleli qophelo, i-TRACER chassis izokwamukela umyalo ovela kusixhumi esibonakalayo se-CAN, futhi umsingathi angakwazi futhi ukuhlaziya isimo samanje se-chassis ngedatha yesikhathi sangempela ebuya ebhasini le-CAN. Ngokuqukethwe okuningiliziwe kwephrothokholi, sicela ubheke kuphrothokholi yokuxhumana ye-CAN.
Ukuxhumana kusetshenziswa i-RS232
Isingeniso sephrothokholi ye-serial
Leli izinga lokuxhumana eliwuchungechunge elakhiwa ngokuhlanganyela yi-Electronic Industries Association (EIA) kanye ne-Bell System, abakhiqizi bemodemu nabakhiqizi betheminali yamakhompyutha ngo-1970. Igama lalo eligcwele libizwa ngokuthi “indinganiso yobuchwepheshe ye-serial kanambambili yokushintshisana kwedatha phakathi kwemishini yokugcina idatha. (DTE) kanye nemishini yokuxhumana ngedatha (DCE). Leli zinga lidinga ukusebenzisa isixhumi esingu-25-pin DB-25 lapho iphinikhodi ngayinye icaciswe ngokuqukethwe kwesignali ehambisanayo namaleveli esignali ahlukahlukene. Ngemuva kwalokho, i-RS232 yenziwa lula njengesixhumi se-DB-9 kuma-PC we-IBM, osekuphenduke indinganiso ye-de facto kusukela lapho. Ngokuvamile, izimbobo ze-RS-232 zokulawula izimboni zisebenzisa kuphela izinhlobo zezintambo ezi-3 - i-RXD, i-TXD ne-GND.
Iphrothokholi yomlayezo we-serial
Imingcele eyisisekelo yokuxhumana
| Into | Ipharamitha |
| Isilinganiso se-Baud | 115200 |
| Hlola | Alikho isheke |
| Ubude bebhithi yedatha | 8 amabhithi |
| Yima kancane | 1 bit |
Imingcele eyisisekelo yokuxhumana
| Qala i-bit Frame length Uhlobo lomyalo lwe-Command ID Data field ID | |||||||
| I-SOF | ifreyimu_L | CMD_TYPE | CMD_ID | idatha [0] … idatha[n] | ifreyimu_id | hlola_isamba | |
| i-byte 1 | i-byte 2 | i-byte 3 | i-byte 4 | i-byte 5 | ibhayithi 6 … ibhayithi 6+n | ibe 7+n | ibe 8+n |
| 5A | A5 | ||||||
Iphrothokholi ihlanganisa ibhithi yokuqala, ubude bozimele, uhlobo lomyalo wozimele, i-ID yomyalo, inkambu yedatha, i-ID yozimele, nokwakheka kwe-checksum. Lapho, ubude befreyimu bubhekisela kubude ngaphandle kwebhithi yokuqala kanye nokwakheka kwe-checksum; i-checksum isho isamba esisuka kancane kuya kuyo yonke idatha ye-ID yohlaka; i-ID yohlaka iyilophu count phakathi kuka-0 kuya ku-255, ezongezwa uma wonke umyalo uthunyelwe.
Okuqukethwe kwephrothokholi
Umyalo wempendulo yesimo sesistimu
| Igama lomyalo umyalo wempendulo yesimo sesistimu | |||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) Isikhathi sokuvala sokuthola (ms) | |
| I-chassis yokuqondisa ngocingo Ubude bozimele
Uhlobo lomyalo |
Iyunithi yokulawula yokwenza izinqumo 0x0a
Umyalo wempendulo (0xAA) |
20ms | Lutho |
| I-ID yomyalo | 0x01 | ||
| Ubude benkambu yedatha | 6 | ||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo |
|
ibhayithi [0] |
Isimo samanje somzimba wemoto |
engasayiniwe int8 |
0x00 Uhlelo olusesimweni esijwayelekile
0x01 Imodi yokuma ephuthumayo (ayinikwe amandla) 0x01 Okuhlukile kwesistimu |
|
ibhayithi [1] |
Ukulawula imodi |
engasayiniwe int8 |
0x00 Imodi yesilawuli kude 0x01 imodi yokulawula ye-CAN[1]
0x02 Imodi yokulawula imbobo ye-serial |
| ibhayithi [2]
ibhayithi [3] |
Ibhethri voltage phezulu 8 bits
Ibhethri voltage yehlisa 8 bits |
engasayiniwe int16 | Ivolumu yangempelatage X 10 (ngokunemba kwe-0.1V) |
| ibhayithi [4]
ibhayithi [5] |
Imininingwane yokwehluleka iphakeme ngamabhithi ayi-8
Imininingwane yokwehluleka yehlisa amabhithi ayi-8 |
engasayiniwe int16 | [IncazeloSteioennofteFsaiflourredeIntafoilrsmation] |
- @UMLAYEZO OMFUSHANE WOKUHLOLA EXAMPIKHODI
- @PARAM[IN] *IDATHA : ISIKHOMBI SESIKHATHI SEDATHA YOMLAYEZO
- @PARAM[IN] LEN :UBUDE BEDATHA YOMLAYEZO OYI-SERIAL
- @BUYISELA UMPHUMELA WECHECKSUM
- STATIC UINT8 AGILEX_SERIALMSGCHECKSUM(UINT8 *DATA, UINT8 LEN)
- I-UINT8 CHECKSUM = 0X00;
- FOR(UINT8 I = 0 ; I < (LEN-1); I++)
- CHECKSUM += IDATHA[I];
Example yekhodi ye-algorithm yokuhlola i-serial
| Incazelo Yolwazi Lokuhluleka | ||
| Byte | Kancane | Incazelo |
|
ibhayithi [4]
ibhayithi [5]
[1]: Ababhalisile |
kancane [0] | Hlola iphutha lomyalo wokulawula ukuxhumana kwe-CAN (0: Akukho ukwehluleka 1: Ukwehluleka) |
| kancane [1] | I-alamu yemoto eshayela phezu kwethempelesha[1] (0: Ayikho i-alamu 1: I-alamu) Izinga lokushisa likhawulelwe ku-55℃ | |
| kancane [2] | I-alamu ye-Motor over-current[1] (0: Ayikho i-alamu 1: I-alamu) Inani lamanje elisebenzayo 15A | |
| kancane [3] | Ibhethri lingaphansi kwevolumutage-alamu (0: Ayikho i-alamu 1: I-alamu) I-alamu voltageya 22.5v | |
| kancane [4] | Kugciniwe, okuzenzakalelayo 0 | |
| kancane [5] | Kugciniwe, okuzenzakalelayo 0 | |
| kancane [6] | Kugciniwe, okuzenzakalelayo 0 | |
| kancane [7] | Kugciniwe, okuzenzakalelayo 0 | |
| kancane [0] | Ibhethri lingaphansi kwevolumutage ukwehluleka (0: Akukho ukwehluleka 1: Ukwehluleka) I-Protective voltageya 22v | |
| kancane [1] | I-battery over-voltagUkwehluleka kwe-e (0: Akukho ukwehluleka 1: Ukwehluleka) | |
| kancane [2]
kancane [3] kancane [4] |
No.1 ukwehluleka kokuxhumana kwemoto (0: Akukho ukwehluleka 1: Ukwehluleka) No.2 ukwehluleka kokuxhumana kwemoto (0: Akukho ukwehluleka 1: Ukwehluleka)
No.3 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka) |
|
| kancane [5] | No.4 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka) | |
| kancane [6]
kancane [7] efanayo ve |
Isivikelo semoto phezu kwezinga lokushisa elingaphezulu[2] (0: Akukho ukuvikeleka 1: Ukuvikelwa) Izinga lokushisa elilinganiselwe ku-65℃
I-Motor over-current protection[2] (0: Akukho ukuvikeleka 1: Ukuvikelwa) Inani lamanje elisebenzayo 20A izinguqulo zenguqulo ye-robot chassis firmware ngemva kwe-V1.2.8 ziyasekelwa, kodwa izinguqulo zangaphambilini zidinga ukusekelwa. |
|
- Izinguqulo ezilandelayo zenguqulo ye-robot chassis firmware ngemva kwe-V1.2.8 ziyasekelwa, kodwa izinguqulo zangaphambilini zidinga ukubuyekezwa ngaphambi kokusekelwa.
- I-alamu yezinga lokushisa elingaphezulu lokushisa kwe-motor drive kanye ne-alamu ye-motor over-current ngeke kusetshenzwe ngaphakathi kodwa izovele isethwe ukuze ihlinzekele ikhompuyutha ephezulu ukuqedela ukucubungula okuthile kwangaphambili. Uma ukushayela ngokweqile kwenzeka, kuphakanyiswa ukunciphisa isivinini semoto; uma izinga lokushisa elingaphezulu livela, kuphakanyiswa ukunciphisa isivinini kuqala bese ulinda izinga lokushisa lehle. Le bithi yefulegi izobuyiselwa esimweni esivamile njengoba izinga lokushisa liyancipha, futhi i-alamu yamanje izosulwa ngokuqhubekayo uma inani lamanje selibuyiselwe esimweni esivamile;
- Ukuvikelwa kwezinga lokushisa elingaphezulu kwe-motor drive kanye nokuvikela kwe-motor over-current kuzocutshungulwa ngaphakathi. Uma izinga lokushisa lemoto lingaphezu kwezinga lokushisa eliyisivikelo, ukuphuma kwedrayivu kuzokhawulwa, imoto izoma kancane, futhi inani lokulawula lomyalo wokulawula ukunyakaza ngeke livumeleke. Le bithi yefulegi ngeke isulwe ngokuqhubekayo, okudinga ikhompuyutha ephezulu ukuthumela umyalo wokusula ukuvikela ukwehluleka. Uma umyalo ususuliwe, umyalo wokulawula ukunyakaza ungenziwa kuphela ngokujwayelekile.
Umyalo wempendulo yokulawula ukunyakaza
| Igama lomyalo | I-Movement Control Feedback Command | ||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo Ubude bozimele
Uhlobo lomyalo |
Iyunithi yokulawula ukwenza izinqumo 0x0A
Umyalo wempendulo (0xAA) |
20ms | Lutho |
| I-ID yomyalo | 0x02 | ||
| Ubude benkambu yedatha | 6 | ||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo |
| ibhayithi [0]
ibhayithi [1] |
Isivinini esihambayo siphakeme ngamabhithi ayi-8
Isivinini sokunyakaza sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sangempela X 1000 (ngokunemba kwe
0.001m/s) |
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokujikeleza siphezulu ngamabhithi ayi-8
Isivinini sokujikeleza sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sangempela X 1000 (ngokunemba kwe
0.001rad/s) |
| ibhayithi [4] | Igodliwe | – | 0x00 |
| ibhayithi [5] | Igodliwe | – | 0x00 |
Umyalo wokulawula ukunyakaza
| I-Command Name Control Command | |||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola(ms) |
| Iyunithi yokulawula yokwenza izinqumo Ubude bozimele
Uhlobo lomyalo |
I-Chassis node 0x0A
Lawula umyalo (0x55) |
20ms | Lutho |
| I-ID yomyalo | 0x01 | ||
| Ubude benkambu yedatha | 6 | ||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo
0x00 Imodi yesilawuli kude |
|
ibhayithi [0] |
Imodi yokulawula |
engasayiniwe int8 |
0x01 CAN imodi yokulawula umyalo[1] 0x02 Imodi yokulawula imbobo ye-serial Bona Inothi 2 ukuze uthole imininingwane* |
| ibhayithi [1] | Ukwehluleka ukususa umyalo | engasayiniwe int8 | Isivinini esikhulu ngu-1.5m/s, ububanzi bevelu (-100, 100) |
| ibhayithi [2] | Amaphesenti esivinini somugqatage | usayine i-int8 | Isivinini esiphezulu ngu-0.7853rad/s, ububanzi benani (-100, 100) |
|
ibhayithi [3] |
Amaphesenti esivinini se-angulartage |
usayine i-int8 |
0x01 0x00 Imodi yesilawuli kude INGABE imodi yokulawula yomyalo[1]
0x02 Imodi yokulawula imbobo ye-serial Bona Inothi 2 ukuze uthole imininingwane* |
| ibhayithi [4] | Igodliwe | – | 0x00 |
| ibhayithi [5] | Igodliwe | – | 0x00 |
No.1 uhlaka lwempendulo yolwazi lwedrayivu yemoto
| Igama lomyalo | No.1 Motor Drive Information Feedback Frame | ||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo Ubude bozimele
Uhlobo lomyalo |
Iyunithi yokulawula ukwenza izinqumo 0x0A
Umyalo wempendulo (0xAA) |
20ms | Lutho |
| I-ID yomyalo | 0x03 | ||
| Ubude benkambu yedatha | 6 | ||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo |
| ibhayithi [0]
ibhayithi [1] |
No.1 drive yamanje ephakeme 8 bits
I-No.1 drive yamanje ephansi kwamabhithi ayi-8 |
engasayiniwe int16 | I-X 10 yangempela yamanje (ngokunemba kwe-0.1A) |
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokujikeleza No.1 siphakeme ngamabhithi ayi-8
Isivinini sokujikeleza se-No.1 sinciphisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sangempela se-motor shaft (RPM) |
| ibhayithi [4] | Izinga lokushisa elingu-No.1 hard disk drive (HDD). | usayine i-int8 | Izinga lokushisa langempela (ngokunemba kwe-1℃) |
| ibhayithi [5] | Igodliwe | — | 0x00 |
No.2 uhlaka lwempendulo yolwazi lwedrayivu yemoto
| Igama lomyalo | No.2 Motor Drive Information Feedback Frame | ||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo Ubude bozimele
Uhlobo lomyalo |
Iyunithi yokulawula ukwenza izinqumo 0x0A
Umyalo wempendulo (0xAA) |
20ms | Lutho |
| I-ID yomyalo | 0x04 | ||
| Ubude benkambu yedatha | 6 | ||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo |
| ibhayithi [0]
ibhayithi [1] |
No.2 drive yamanje ephakeme 8 bits
I-No.2 drive yamanje ephansi kwamabhithi ayi-8 |
engasayiniwe int16 | I-X 10 yangempela yamanje (ngokunemba kwe-0.1A) |
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokujikeleza No.2 siphakeme ngamabhithi ayi-8
Isivinini sokujikeleza se-No.2 sinciphisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sangempela se-motor shaft (RPM) |
| ibhayithi [4] | Izinga lokushisa elingu-No.2 hard disk drive (HDD). | usayine i-int8 | Izinga lokushisa langempela (ngokunemba kwe-1℃) |
| ibhayithi [5] | Igodliwe | — | 0x00 |
Uhlaka lokulawula ukukhanya
| I-Command Name Lighting Control Frame | |||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| Iyunithi yokulawula yokwenza izinqumo Ubude bozimele
Uhlobo lomyalo |
I-Chassis node 0x0A
Lawula umyalo (0x55) |
20ms | 500ms |
| I-ID yomyalo | 0x02 | ||
| Ubude benkambu yedatha | 6 | ||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo |
| ibhayithi [0] | Isilawuli sokukhanyisa sivumela iflegi | engasayiniwe int8 | 0x00 umyalo wokulawula awuvumelekile
0x01 amandla okulawula ukukhanya |
|
ibhayithi [1] |
Imodi yokukhanya yangaphambili |
engasayiniwe int8 |
0x010 NOC
0x03 Us0exr-0d2eBfiLnemdobdreightness |
| ibhayithi [2] | Ukukhanya ngokwezifiso kokukhanya okungaphambili | engasayiniwe int8 | [0, 100]r,ewfehresrteo0mreafxeimrsutomnboribgrhigtnhetnssess, 0x00 NC |
| ibhayithi [3] | Imodi yokukhanya yangemuva | engasayiniwe int8
engasayiniwe int8 |
0x01 nxa
0x03 0x02 imodi ye-BL Ukukhanya okuchazwe umsebenzisi [0, ], lapho u-0 esho ukungabi nakukhanya, |
| ibhayithi [4] | Ukukhanya ngokwezifiso kokukhanya kwangemuva | 100 ibhekisela ekukhanyeni okuphezulu | |
| ibhayithi [5] | Igodliwe | — | 0x00 |
Uhlaka lwempendulo yokulawula ukukhanya
| I-Command Name Lighting Control Feedback Frame | |||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo
Ubude bozimele Uhlobo lomyalo |
Iyunithi yokulawula ukwenza izinqumo 0x0A
Umyalo wempendulo (0xAA) |
20ms | Lutho |
| I-ID yomyalo | 0x07 | ||
| Ubude benkambu yedatha | 6 | ||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo |
| ibhayithi [0] | Ukulawula ukukhanya kwamanje kunika amandla ifulegi | engasayiniwe int8 | 0x00 umyalo wokulawula awuvumelekile
0x01 amandla okulawula ukukhanya |
|
ibhayithi [1] |
Imodi yokukhanya yangaphambili yamanje |
engasayiniwe int8 |
0x00 NC
0x01 nxa Imodi ye-0x02 BL 0x03 Ukukhanya okuchazwe umsebenzisi [0, ], lapho u-0 esho ukungabi nakukhanya, |
| ibhayithi [2] | Ukukhanya ngokwezifiso kwamanje kokukhanya okungaphambili | engasayiniwe int8 | 100 ibhekisela ekukhanyeni okuphezulu |
| ibhayithi [3] | Imodi yamanje yokukhanya yangemuva | engasayiniwe int8
engasayiniwe int8 |
0x00 NC
0x01 nxa 0x02 BL imodi [0, 0x03 Ukucaca okuchazwe ngumsebenzisi,], lapho u-0 esho ukuthi akukho ukukhanya |
| ibhayithi [4]
ibhayithi [5] |
Ukukhanya ngokwezifiso kwamanje kokukhanya okungemuva
Igodliwe |
— | 100 ibhekisela ekukhanyeni kwe-m0ax0im0 um |
Example data
I-chassis ilawulwa ukuthi iye phambili ngesivinini esiwumugqa esingu-0.15m/s, lapho idatha ethile ikhonjiswa kanjena.
| Qala kancane | I-Flernamgthe | Comtympeand | ComImDand | Inkambu yedatha | I-ID yozimele | cCohmepcoksitmion | |||
| i-byte 1 | i-byte 2 | i-byte 3 | i-byte 4 | i-byte 5 | i-byte 6 | …. | ibe 6+n | ibe 7+n | ibe 8+n |
| 0x5A | 0xA5 | 0x0A | 0x55 | 0x01 | …. | …. | …. | 0x00 | 0x6B |
Okuqukethwe kwenkambu yedatha kuboniswa kanje:
Iyunithi yezinhlamvu zedatha yonke ithi: 5A A5 0A 55 01 02 00 0A 00 00 00 00 6B
Uxhumano lwe-serial
Khipha ikhebula le-serial le-USB-kuya-RS232 kukhithi yethu yamathuluzi okuxhumana ukuze uyixhume embotsheni ye-serial ekugcineni engemuva. Bese, sebenzisa ithuluzi lembobo ye-serial ukusetha izinga elihambisanayo le-baud, bese uhlola nge-exampusuku olunikezwe ngenhla. Uma isidlulisi se-RC sivuliwe, sidinga ukushintshelwa kumodi yokulawula umyalo; uma isidluliseli se-RC sivaliwe, thumela ngokuqondile umyalo wokulawula. Kumele kuqashelwe ukuthi, umyalo kufanele uthunyelwe ngezikhathi ezithile, ngoba uma i-chassis ingazange ithole umyalo we-serial port ngemva kwe-500ms, izongena esimweni sokuvikela esinqanyuliwe.
Ukuthuthukiswa kwe-Firmware
Imbobo ye-RS232 eku-TRACER ingasetshenziswa abasebenzisi ukuthuthukisa i-firmware yesilawuli esikhulu ukuze bathole ukulungisa iziphazamisi kanye nezithuthukisi zesici. Uhlelo lokusebenza lweklayenti le-PC olunokusebenza okubonakalayo komsebenzisi luhlinzekwa ukusiza ukwenza inqubo yokuthuthukisa isheshe futhi ishelele. Isithombe-skrini salolu hlelo lokusebenza siboniswa kuMfanekiso 3.3.
Thuthukisa ukulungiselela
- Ikhebula le-serial X1
- Imbobo ye-USB-to-serial X 1
- I-TRACER chassis X 1
- Ikhompyutha (isistimu yokusebenza yeWindows) X 1
Isofthiwe yokuvuselela i-Firmware
https://github.com/agilexrobotics/agilex_firmware
Inqubo yokuthuthukisa
- Ngaphambi kokuxhumeka, qiniseka ukuthi i-chassis yerobhothi ivaliwe;
- Xhuma ikhebula le-serial embobeni yeserial ekupheleni ngemuva kwe-TRACER chassis;
- Xhuma ikhebula le-serial kukhompyutha;
- Vula isofthiwe yeklayenti;
- Khetha inombolo yembobo;
- Vula i-TRACER chassis, bese uchofoza ngokushesha ukuze uqale ukuxhumana (i-TRACER chassis izolinda ama-6s ngaphambi kokukhanyisa; uma isikhathi sokulinda singaphezu kuka-6s, izofaka isicelo); uma uxhumano kuphumelela, "kuxhunywe ngempumelelo" kuzokwaziswa ebhokisini lombhalo;
- Layisha uMgqomo file;
- Chofoza inkinobho ethi Thuthukisa, bese ulinda ukwaziswa kokuqedwa kokuthuthukisa;
- Nqamula ikhebula le-serial, cisha i-chassis, bese ucisha amandla uphinde uvule futhi.
I-Client Interface Yokuthuthukisa I-Firmware
Izinyathelo zokuzivikela
Lesi sigaba sihlanganisa ezinye izinyathelo zokuphepha okufanele ziqashelwe ukuze i-TRACER isetshenziswe futhi ithuthukiswe.
Ibhethri
- Ibhethri elihlinzekwe nge-TRACER alishajiwe ngokugcwele esimisweni sefekthri, kodwa amandla alo athile angaboniswa ku-voltmeter ekugcineni kwe-TRACER chassis noma afundwe ngesixhumi esibonakalayo sokuxhumana sebhasi le-CAN. Ukushajwa kabusha kwebhethri kungamiswa uma i-LED eluhlaza eshaja iba luhlaza. Qaphela ukuthi uma ugcina ishaja ixhunyiwe ngemva kokuba i-LED eluhlaza ikhanya, ishaja izoqhubeka nokushaja ibhethri cishe ngo-0.1A wamanje cishe imizuzu engu-30 ngaphezulu ukuze ibhethri lishajwe ngokugcwele.
- Sicela ungayishaji ibhethri ngemva kokuphelelwa amandla, futhi sicela ushaje ibhethri kusenesikhathi lapho i-alamu yezinga eliphansi lebhethri ikhanya;
- Izimo zokugcina ezimile: Izinga lokushisa elingcono kakhulu lokugcina ibhethri ngu -20℃ kuya ku-60℃; uma igcinwa ingasetshenziswa, ibhethri kufanele lishajwe futhi lishajwe kanye njalo ezinyangeni ezi-2, bese ligcinwa ngevolumu egcwele.tage state. Sicela ungafaki ibhethri emlilweni noma ushise ibhethri, futhi sicela ungaligcini ibhethri endaweni enezinga eliphezulu lokushisa;
- Ukushaja: Ibhethri kufanele ishajwe ngeshaja yebhethri ye-lithium ezinikele; amabhethri e-lithium-ion awakwazi ukushajwa ngaphansi kuka-0°C (32°F) futhi ukulungisa noma ukufaka esikhundleni samabhethri asekuqaleni kwenqatshelwe ngokuphelele.
Iseluleko esengeziwe sokuphepha
- Uma kukhona ukungabaza ngesikhathi sokusetshenziswa, sicela ulandele imanuwali yemiyalelo ehlobene noma uthintane nabasebenzi bezobuchwepheshe abahlobene;
- Ngaphambi kokusetshenziswa, naka isimo senkundla, futhi ugweme ukusebenza kabi okuzodala inkinga yokuphepha kwabasebenzi;
- Esimeni esiphuthumayo, cindezela inkinobho yokumisa izimo eziphuthumayo bese ucisha okokusebenza;
- Ngaphandle kosekelo lobuchwepheshe nemvume, sicela ungaguquli mathupha ukwakheka kwezinto zangaphakathi
Indawo yokusebenza
- Izinga lokushisa lokusebenza le-TRACER ngaphandle lingu-10℃ ukuya ku-45 ℃;sicela ungayisebenzisi ngaphansi kuka -10℃ nangaphezulu kuka-45℃ ngaphandle;
- Izinga lokushisa lokusebenza le-TRACER ngaphakathi endlini lingu-0℃ ukuya ku-42℃; sicela ungayisebenzisi ngaphansi kuka-0℃ nangaphezulu kuka-42℃ endlini;
- Izidingo zomswakama ohlobene endaweni esetshenziswayo ye-TRACER yilezi: umkhawulo ongu-80%, ubuncane obungu-30%;
- Sicela ungayisebenzisi endaweni enegesi ebolayo nevuthayo noma evalwe ezintweni ezivuthayo;
- Ungayibeki eduze kwezifudumezi noma izinto zokushisisa njengezinsimbi ezinkulu eziboshiwe, njll.;
- Ngaphandle kwenguqulo eyenziwe ngokwezifiso (ikilasi lokuvikela le-IP elenziwe ngendlela oyifisayo), i-TRACER ayivumeli amanzi, ngakho-ke sicela ungayisebenzisi endaweni enemvula, eneqhwa noma enqwabelene emanzini;
- Ukuphakama kwendawo yokusetshenziswa okunconyiwe akufanele kudlule i-1,000m;
- Umehluko wokushisa phakathi kwemini nobusuku endaweni enconyiwe yokusetshenziswa akufanele udlule 25℃;
Izintambo zikagesi/zesandiso
- Lapho uphatha futhi umisa, sicela ungawi noma umise imoto ibheke phansi;
- Kwabangewona ochwepheshe, sicela ungayiqaqi imoto ngaphandle kwemvume.
Amanye amanothi
- Lapho uphatha futhi umisa, sicela ungawi noma umise imoto ibheke phansi;
- Kwabangewona ochwepheshe, sicela ungayiqaqi imoto ngaphandle kwemvume
I-Q&A
- Q: I-TRACER iqalwe kahle, kodwa kungani isidlulisi se-RC singakwazi ukulawula indikimba yemoto ukuthi ihambe?
A:Okokuqala, hlola ukuthi amandla kagesi edrayivu asesimweni esijwayelekile, ukuthi iswishi yamandla edrayivu icindezelwe phansi nokuthi amaswishi e-E-stop akhululiwe yini; bese, hlola ukuthi imodi yokulawula ekhethiwe ngeswishi yokukhetha yemodi kwesokunxele ephezulu kusidluliseli se-RC ilungile yini. - Q:Irimothi ye-TRACER isesimweni esijwayelekile, futhi ulwazi mayelana nesimo se-chassis nokunyakaza lungatholwa ngendlela efanele, kodwa lapho kukhishwa umthetho olandelwayo wohlaka lokulawula, kungani imodi yokulawula umzimba wemoto ingenakushintshwa futhi i-chassis iphendule kuphrothokholi yohlaka lokulawula. ?
A:Ngokujwayelekile, uma i-TRACER ingalawulwa yi-RC transmitter, kusho ukuthi ukunyakaza kwe-chassis kungaphansi kokulawulwa okufanele; uma uhlaka lwempendulo ye-chassis lungamukelwa, kusho ukuthi isixhumanisi sesandiso se-CAN sisesimweni esijwayelekile. Sicela uhlole uhlaka lokulawula lwe-CAN oluthunyelwe ukuze ubone ukuthi ukuhlolwa kwedatha kulungile yini nokuthi imodi yokulawula ikumodi yokulawula yomyalo. - Q:TRACER inikeza i-“beep-beep-beep…” umsindo osebenzayo, ungabhekana kanjani nale nkinga?
A:Uma i-TRACER inikeza lo msindo we-"beep-beep-beep" ngokuqhubekayo, kusho ukuthi ibhethri liku-alamu.tage state. Sicela ushaje ibhethri kusenesikhathi. Uma omunye umsindo ohlobene uvela, kungase kube namaphutha angaphakathi. Ungahlola amakhodi amaphutha ahlobene ngebhasi le-CAN noma uxhumane nabasebenzi bezobuchwepheshe abahlobene. - Q:Uma ukuxhumana kwenziwa ngebhasi le-CAN, umyalo wempendulo ka-chassis ukhishwa ngendlela efanele, kodwa kungani imoto ingaphenduli kumyalo wokulawula?
A:Kukhona indlela yokuvikela ukuxhumana ngaphakathi kwe-TRACER, okusho ukuthi i-chassis inikezwa isivikelo sokuvala isikhathi lapho kucutshungulwa imiyalo yangaphandle yokulawula i-CAN. Ake sithi imoto ithola uhlaka olulodwa lwephrothokholi yokuxhumana, kodwa ayitholi umyalo olandelayo wokulawula ngemva kuka-500ms. Kulokhu, izongena kwimodi yokuvikela ukuxhumana futhi isethe isivinini ku-0. Ngakho-ke, imiyalo evela kukhompyutha ephezulu kufanele ikhishwe ngezikhathi ezithile.
Ubukhulu bomkhiqizo
Umdwebo womdwebo wobukhulu bangaphandle bomkhiqizo
- gr@generationrobots.com
- +33 5 56 39 37 05
- www.generationrobots.com
Amadokhumenti / Izinsiza
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Ithimba le-TRACER AgileX Robotics I-Autonomous Mobile Robot [pdf] Imaniwali yosebenzisayo Ithimba le-AgileX Robotics i-Autonomous Mobile Robot, i-AgileX, iThimba lamaRobhothi i-Autonomous Mobile Robot, i-Autonomous Mobile Robot, i-Mobile Robot |
