ࡱ> 5@{bjbj22 .XX2jjjj""""$"T`6#^####FFF/_1_1_1_1_1_1_$`Rc|U_uFE|FFFU_jj##"_XXXF j##/_XF/_X2X'Y:^,(^#*# K[")OG^ /__0`Q^RcVc^jjjjc^FFXFFFFFU_U_$"X" Robot Night Sadr~aj: 1. Opis staze 2. Senzori 3. Motori 4. Izgled robota 5. Mikrokontroler 6. O itavanje senzora 7. Pokretanje motora 8. Logika vo~nje 9. Za kraj Opis staze Staza za vo~nju robota je labirint 2m x 2.5 m.Debljina pregrade je 12mm. Udaljenost pregrada je 20-30 cm.Visina pregrada je 7-10 cm. Staza je podjeljena na 9 segmenata po du~ini i 7 segmenata po airini ato zna i da su pregrade razmaknute cca. 27 cm jedna od druge. U stazi su ina e budu postavljeni pogreani putevi, ali bitna stvar je da se svaki labirint mo~e rjeaiti pratei samo jedan zid. Labirint je bjele boje zbog IR senzora jer se IR zrake najbolje odbijaju od bjele boje.  Slika 1  Dr~avno natjecanje Maribor 2004 Na slici 1 prikazan je labirint kojim se vozilo u Mariboru 2004 godine. Senzori Na Night robotu sam koristio IR senzore. Princip rada ovih senzora zasniva se na prijemu IR zraka odbijenih od pregrade. Na odaailja koj diodi koja je usmjerena prema pregradi odaailjete frekvenciju i na prijemniku o itavate da li se odbijena frekvencija vratila do prijemnika ili ne (Slika 2). Za ovaj robot koristio sam IR prijemnik PNA4602. Karakteristiku PNA4602 jednostavno je skinuti s interneta ali ete u datasheet nai samo napon napajanja 5 V, popis pinova , karakteristiku ovisnu o temperaturi, frekvenciju rada 38500 Hz itd. U knjizi Basic Stamp, Paralax nacrtana je karakteristika udaljenosti ovisna o promjeni frekvencije odaailja a. Ovo mo~e biti zanimljivo jer u pravilima natjecanja 2003 godine navedeno je da se maksimalno mo~e koristiti 3 senzora. Ako mo~ete vaaim mikrokontorlerom mjenjati frekvenciju odaailjanja mo~ete jednim senzorom mjeriti puno viae udaljenosti.  SHAPE \* MERGEFORMAT  Slika 3, IR odaaolja  i prijemnik Na Night robotu imamo 4 senzora na robotu: Prednji  O itava pregradu kada je ispred robota Desni daleki  Signalizira da je robot predaleko od pregrade Desni kratki  Signalizira da je robot preblizu pregrade Nagli senzor  Signalizira kraj zida kojeg smo pratili Na slici 3 je prikazana raspodjela senzora. Du~inom crte senzora slikovito se prikazuje na kojoj udaljenosti e senzor vidjeti zid. Na slici prednji, kratki i daleki ne vide zid dok nagli senzor vidi zid.  SHAPE \* MERGEFORMAT  Slika 3 Motori `to se ti e izbora motora o tome morate sami odlu iti. Evo nekoliko stvari po kojima se odabiru motori: Mala masa, velika snaga , mala potroanja , jednostavno upravljanje smjerom i brzinom motora. Jednostavno je zaklju iti da ne postoje ovakvi motori. Uzmete li steeper motore dobit ete na preciznosti ali izgubiti na dodatnoj elektronici za njih i ato je najva~nije na brzini. Robot e vam trebati puno viae baterija za njihovo pokretanje time e biti te~i i sporiji ato nama naravno nije cilj. Uzmete li istosmjerne motore dobit ete na brzini, njihova masa je dovoljno mala ali kod njih ima dosta problema kod redukcije brzine i djela elektronike koja s njima upravlja. Podeaavajui program za skretanje robota u zavoju s istosmjernim motorima se javlja problem jer ih je teako s elektronikom usporiti i ubrzati linearno. Uzmete li servo motore dobivate na jednostavnoj elektronici i upravljanju jer ih je jednostavno regulirati mikrokontrolerom. Mala im je masa i ne troae previae. Ja sam koristio motore tvornice paralax ali kod njih je bio problem ato su spori pa je bilo dodathnih mehani kih ubrzavanja. Na vama je da sami odlu ite koje ete motore koristili. Za po etnike bih preporu io servo motore, a za one koji misle voziti fenomenalnom brzinom istosmjerne. Izgled robota `to se ti e izgleda robot ne treba biti nalickan, naaminkan ili neato sli no ali veliku ulogu u vo~ni robota igra raspored motora, baterija, du~ina i airina robota. Preporu ujem da motore stavite na zadnji dio robota i baterije ispor njih. Na prednji dio robota najbolje je postaviti samo senzore jer robot skree zaustavljanjem ili usporavanjem jednoga od pogonskih kota a. Bolje je da optere enje baterija bude na motorima jer je onda manje optere enje na prednjem djelu gdje je samo oslonac. `to se ti e airine robota opet ovisi o vaaim motorima. Ako stavite motore koje mo~ete savraeno kontrolirati bolje je da airina robota bude manja. S druge strane ako ~elite voziti fenomenalno brzo neete moi kontrolirati savraeno niti jedne motore pa e vam se javljati problem da se robot okrenene i vrati nazad. Logi ki gledano ato je manji razmak izmeu kota a samo malim usporavanjem bilo kojeg motora robot naglo skree i vi ga ne mo~ete dovoljno dobro kontrolirati. Du~ina robota ne igra tako veliku ulogu ali nije dobro da je robot skroz kratak jer vam se onda javlja problem da nemate dobar oslonac na prednjoj strani pa pri naglom ubrzanju robot digne u zrak. Visina robota bi trebala biti ato manja jer pri nagloj promjeni smjera mo~e vam se dogoditi da se robot prebaci. I ato je najbitnije koristite lagane materijale za izradu robota i ne nabacujte aminku jer i ona robota ini te~im. Koristite ato lakae baterije. Mislim da je najbolje koristiti baterije 9 V jer nisu teake a osiguravaju dovoljno struje za proi cijeli labirint (Pribli~no 21m). Mikrokontroler Za odabir mikrokontrolera je najbolje uzeti mikrokontroler s kojim znate raditi i programirati. Paralax je razvio svoj mikrokontroler koji je baa napravljen za u enje rada s robotima pa je najednostavnije raditi s paralaxovim PS2 mikrokontrolerem koji emo opisati detaljnije u programiranju. Robot Night na sebi ima mikrokontroler PS2 Basic Stamp. O itavanje senzora  SHAPE \* MERGEFORMAT  Sl 4. Spajanje IR senzora Mikrokontroler BS2 ima 15 I/U portova. Za o itavanje senzora vama su potrebna 2 ulaza. Jedan ulaz preko kojega odaailjete frekvenciju a drugi kojim o itavate da li se IR zraka vratila do senzora. Za primjer emo uzeti portove 1 i 2. Preko porta 1 odaailjemo frekvenciju 38500 Hz. Najbolje bi bilo da trimer bude potenciometar s finim podeaavanjem jer vam on koristi za naknadno podeaavanje daljine senzora.(5K ohm). Odaailja ka dioda mora biti izolirana tako da mo~e odaailjati samo ravno jer u protivnom ako je 'gola' onda bi IR zraka odmah doala do vaaega prijemnika. IR dioda treba biti usmjerena prema pregradi i odaailjati u nju. U programskom jeziku Basci Stamp postoji naredba za odaailjanje frekvencije.( freqout pin,time,freq). U naaem slu ajubdv~ 0 6 Z ` |  ~ r t "(~t߿߿߿۫۫ۯjhE!8UjhWUjhWUmHnHujhWUhWh7 hE!8jhkH:UhkH:hiA$hT8hh Chw+1hA~hyh#Bh5h55CJaJh5h5h55CJ(aJ(4bdvx 0 Z | n p r v 24 & FgdE!8gdkH:h^hgdkH:h^hgd#B & Fgd#Bh^hgd5gd5zz{^`rtLz4"!^#$h^hgdy & FgdygdE!8h^hgdWgdWBDFHJLV !"!!\#^#4&.0333333 4"4$4&4(4*4:HlKOOOOOOOlQ¾κ|tjh CUjh CUmHnHujh CUh CUh\3jh\3UjhUmHnHujhUhhw+1hnPVh:h?chA~hWhyh7 jh7 UjhE!8UmHnHujhE!8UhE!8,$$$$0011333333*4448lKLLLL & Fgdh^hgdgdw+1 & Fgdw+1h^hgd:h^hgdA~ & FgdA~h^hgdy ta bi naredba izgledala ovako: 'freqout 1,1,38500' Zna i odaailjemo frekvenciju 38500 sa pina 1 u vremenskom intervalu od 1 mS. Frekvencija 38500 je ona frekvencija koju najbolje prima PNA4602 zna i da je to najdalja udaljenost koju mo~emo gledati.Potenciometrom mo~emo nakon toga podesiti na ~eljenu udaljenost. Nakon ove naredbe sljedi naredba u kojoj provjeravamo da li se frekvencija vratila ili ne (Variabla = in2). U naaem slu aju Ta naredba bi glasila 'IR_daleko = in2' . IR daleko je variabla koja se definira na po etku programa. Pogledajmo sada program u cjelosti: IR_daleko var bit Begin: Freqout 1,1,38500 IR_daleko=in2 Goto begin Ovaj program provjerava senzor ali nema uvjeta tako da poslje ovih naredbi treba postaviti IF IR_dalako... o tome emo u detaljnom djelu programiranja mikrokontrolera. Pokretanje motora Pokretanje servo motora: Servo motori su najjednostavniji za pokretanje jer ne trebaju dodatna operacijska poja ala ili jake tranzistore za stuju do 1A.  SHAPE \* MERGEFORMAT  Slika 5. Spajanje servo motora na BS2 mikrokontroler Oni se mogu izravno spojiti na mikrokontroler. Na slici 5 prikazana je shema spajanja servo motora. Kao ato se vidi iz sheme servo i BS2 su povezani samo preko jednog vodi a. Naravno masa na motoru i na BS2 mora biti zajedni ka ali + napajanja ne mora. Ako ~elimo veu brzinu servo motora onda njih spojimo na viaji napon. Na BS2 nema potrebe dizati napon jer s time niata ne posti~emo samo zagrijavamo mikrokontroler koji i dalje radi na istoj frekvenciji. Iz Basic Stampa ove motore pokreemo naredbom pulsout. Program emo napisati 3 puta da objasnimo razliku. Motor con 12 Motor con 12 Motor con 12 Main: Main: Main: Pulsout motor , 750 Pulsout motor,1000 Pulsout motor , 500 Goto main Goto main Goto main U ova tri programa 1 naredba je ista. Motor con 12. U ovoj naredbi se definira na kojem se portu mikrokontrolera nalazi motor. U naaem slu aju je on na 12 portu. Druga naredba je labela na koju se vraamo naredbom goto main. Upiaete li broj 750 motor stoji, broj 1000 motor se okree maksimalno u jednu stranu, a broj 500 motor se okree maksimalno u drugu stranu. Zna i 750 je sredina ili podru je gdje motor stoji. Ako ~elite polagano ubrzavati motore onda krenete sa 750...751....752. tj napravite takvu petlju koja svaki puta taj broj podigne ili spusti za nekoliko jedinica. U knjizi paralaxa program je druga ije napisati. Izbacio sam jednu naredbu jer se bez nje posti~e vea brzina. Poslje svakoga impulsa motora prebala bi ii naredba 'pause 20' ato zna i pri ekati 20ms. S tom naredbom motori se okreu oko 2 puta sporije. Ako imate 2 motora morate definirati i dva porta. Evo primjer programa kako pokrenuti 2 motora: Motor_D con 12 Motor_L con 13 Main: Pulsout Motor_D , 500 Pulsout Motor_L , 1000 Goto main Jedan motor se vrti u jednu stranu maksimalno a drugi u drugu. Robot ide ravno jer su motori jedan od drugoga. Logika vo~nje Robot Night prati desnu pregradu. Pri po etku programa provjerimo senzore (daleko, kratko , naglo , prednji) Nakon toga postavljamo uvjete i prema njima odreujemo ato radi robot. Evo program Night robota: '{$STAMP BS2} IR_daleko var bit IR_kratko var bit IR_zamka var bit IR_prednji var bit okretaj var word output 7 output 6 output 5 Motor_lijevi con 12 Motor_desni con 13 sleep 1 main: freqout 6,1,38500 IR_daleko = in11 freqout 6,1,38800 IR_kratko = in11 freqout 7,1,38500 IR_prednji = in8 freqout 5,1,38500 IR_zamka = in10 if IR_zamka = 1 then naglo if IR_prednji = 0 then skreni_90 if IR_daleko = 0 and IR_kratko = 1 then ravno if IR_daleko = 1 then desno if IR_kratko = 0 then lijevo goto main ravno: for okretaj = 1 to 8 pulsout Motor_lijevi, 500 pulsout Motor_desni, 1000 next goto main lijevo: for okretaj = 1 to 8 pulsout Motor_lijevi, 690 pulsout Motor_desni, 1000 next goto main desno: for okretaj = 1 to 8 pulsout Motor_lijevi, 500 pulsout Motor_desni, 810 next goto main skreni_90: freqout 5,1,38500 IR_zamka = in10 if ir_zamka = 0 then lijevo90 if ir_zamka = 1 then desno90 lijevo90: for okretaj = 1 to 5 pulsout motor_lijevi, 770 pulsout motor_desni, 1000 next goto main desno90: for okretaj = 1 to 5 pulsout motor_lijevi, 500 pulsout motor_desni, 730 next goto main naglo: for okretaj = 1 to 5 pulsout motor_lijevi , 500 pulsout motor_desni , 780 next goto main Kako smo ve sve naredbe objasnili nema potrebe da program objaanjavam poredu svaku naredbu. Logika vo~nje je ova: Provjerimo senzore Ako prednji senzor vidi pregradu tada pogledamo senzor naglo jer on gleda najdalje desno od svih senzora. U pravilu prednji senzor mo~e vidjeti pregradu samo u zavoju. Ako nagli senzor vidi pregradu i prednji senzor vidi pregradu, a ako su naai senzori s desne strane zna i da jedino mo~emo skrenuti lijevo. U ovom programu to je rutina skreni_90. Petlja for okretaj ne zakree robota skroz za 90 stupnjeva nego za 10 stupnjeva. Drugim rje ima robot e skretati lijevo sve dok god je prednji senzor na pregradi. Ako postavimo da prednji senzor gleda 7 cm onda e nam se robot dobro ispraviti prema toj pregradi (Pitagorin pou ak) Ako ni jedan od senzora ne vidi pregradu onda naglo skrenemo desno jer pratimo desnu pregradu. Ako kratki senzor vidi pregradu odaljavamo polako robot Ako daleko senzor ne vidi pregradu a nagli vidi polako pribli~avamo robot pregradi. U programu ima for petlja na svakoj labeli od pokretanja motora. O okretaju te petlje ovisi koliko se puta provjere senzori i koliko motori. Pri velikim brzinama javlja se problem da brojeve okretaja te petlje moramo smanjivati da bi viae puta itali senzore. Ali onda dodatno usporimo motore. Najbolje rjeaenje ovoga problema je postaviti 2 mikrokontrolera na robota i napraviti paralelnu komunikaciju. S jednim samo davati impulse motorima, a s drugim itati senzore i postavljati uvjete vo~nje. Za kraj Za izradu ovakoga robota pro itajte parallax-ovu knjigu Basic Stamp 10 puta jer su u njoj objaanjene sve pojedinosti za koje bih morao napisati viae od 100 stranica a to mi se ne da. Pinovi za programiranje , napajanje BS2 imate u toj knjizi. Ako vam treba pomo javite se na  HYPERLINK "mailto:josip.stivic@fer.hr" josip.stivic@fer.hr ili na 0989145702 Evo slika i moga robota. 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