“Bot:bit”的版本间的差异
Tangliufeng(讨论 | 贡献) |
Tangliufeng(讨论 | 贡献) (→循迹机器人) |
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(未显示2个用户的55个中间版本) | |||
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[[文件:Cc bot2.jpg|500px|缩略图|右]] | [[文件:Cc bot2.jpg|500px|缩略图|右]] | ||
== 概述 == | == 概述 == | ||
− | + | bot:bit人形机器人是一款可以编程控制的人形机器人,支持Mpython图形化编程和Python代码编程,简单易学,通过编程可拓展人的空间思维空间能力。机器人具有多种工作形态,一是装4自由度舵机作为手臂,加上2路电机作为轮子,自由移动的同时双手可灵活操作;二是装有4自由度舵机作为双腿、实现自由行走、避障 | |
+ | 循迹。 | ||
− | == | + | == 技术参数 == |
* 动作灵活:全身拥有8个动作关节,拟人造型,实现动作舞蹈,身手灵活。 | * 动作灵活:全身拥有8个动作关节,拟人造型,实现动作舞蹈,身手灵活。 | ||
− | * 无线遥控:2. | + | * 无线遥控:2.4GHz射频传输模块和蓝牙模块,可实现遥控格斗运动,欢乐无穷。 |
* 内置加速度计 | * 内置加速度计 | ||
− | * | + | * 测距避障:内置的高精度超声波模块,能快速返回测量信息、走迷宫、越野的多种任务挑战 |
− | * | + | * 循迹:采用5对红外收发管 |
− | + | * 高续航:3节并联14500锂电池,可循环充电,支持课堂教学应用。 | |
− | + | <br /> | |
− | + | <br /> | |
{| | {| | ||
第25行: | 第26行: | ||
|} | |} | ||
− | |||
− | |||
− | [[ | + | == 引脚定义/接口说明 == |
− | < | + | <br /> |
− | [[ | + | |
− | + | {| | |
− | [[ | + | |- |
− | == | + | | [[File:botbit循迹_define.png|400px]] |
− | === | + | |- |
− | + | | valign="center" align="center"|bot:bit循迹板引脚定义 | |
− | [[文件:20180109031801!Cc bot1.png|200px|居中|有框| | + | |} |
− | === | + | <br /> |
+ | <br /> | ||
+ | |||
+ | == 使用教程 == | ||
+ | === <font size=4px>结构组装</font> === | ||
+ | <font size=3.5px>bot:bit有以下两种形态,外壳结构部分的组装详见组装说明!</font><br /> | ||
+ | |||
+ | |||
+ | {|style="background-color:#FCF8E3;color:#8A6D3B;" | ||
+ | |- | ||
+ | |style="padding: 2px;"| [[File:warning_yellow.png|25px|center]] ||'''注意:''' | ||
+ | | 在安装舵盘前,请先烧录"组装程序.hex",使舵机角度归零后再按要求按装舵盘! | ||
+ | |} | ||
+ | {|style="background-color:#FCF8E3;color:#8A6D3B;" | ||
+ | |-style="vertical-align:center;" | ||
+ | |[[File:点击下载.png|30px|center]] | ||
+ | |[[:File:Bobit组装程序.rar]] | ||
+ | |} | ||
+ | <br /> | ||
+ | ==== <font size=3px>行走式机器人</font>==== | ||
+ | <font size=3px>4自由度舵机作为双腿、实现自由行走</font> | ||
+ | [[文件:20180109031801!Cc bot1.png|200px|居中|有框|行走式机器人]]<br /> | ||
+ | ==== <font size=3px> 轮式机器人</font>==== | ||
+ | <font size=3px>4自由度舵机作为手臂,加上2路电机作为轮子,自由移动的同时双手可灵活操作</font> | ||
+ | [[文件:Motion bot.jpg|800px|居中|有框|轮式机器人]]<br /> | ||
+ | <br /> | ||
+ | |||
+ | === <font size=4px>连接示意图</font> === | ||
+ | <font size=3px>根据不同bot:bit形态,按示意图将手或脚部的舵机、循迹板、直流电机、电池等连接至主板上</font> | ||
+ | ==== <font size=3px>行走式机器人硬件连接</font>==== | ||
[[文件:Walk bot连接图.jpg|600px|无框|居中]] | [[文件:Walk bot连接图.jpg|600px|无框|居中]] | ||
− | ==== | + | <br /><br /> |
− | [ | + | ====<font size=3px>轮式机器人硬件连接</font>==== |
+ | [[文件:Auto bot连接图.jpg|500px|无框|居中]] | ||
+ | |||
+ | |||
+ | ===<font size=4px> 程序下载快速指南</font>=== | ||
+ | {{microbit编程快速入门}} | ||
+ | <br /> | ||
+ | <br /> | ||
+ | |||
+ | ===<font size=4px>API 应用程序编程接口</font>=== | ||
+ | |||
+ | {|class="wikitable" | ||
+ | |- | ||
+ | !<font size=3.5>类别</font> !! <font size=3.5>函数名</font> !! <font size=3.5>说明</font> | ||
+ | |- | ||
+ | |rowspan="6" valign="center" align="center"|<font size=4>脚部控制</font> | ||
+ | |<font size=4px>walking(steps,time, direction)</font> | ||
+ | |'''函数功能:'''向前、后行走<br />'''参数:''' | ||
+ | * steps:步数 | ||
+ | * time:单步时间,单位毫秒 | ||
+ | * direction:方向,1为前进,-1为后退 | ||
+ | |- | ||
+ | |<font size=4px>moonwalker(steps,time,h,direction)</font> | ||
+ | |'''函数功能:'''迈克尔杰克逊的太空漫步<br />'''参数:''' | ||
+ | * steps:步数 | ||
+ | * time:单步时间,单位毫秒 | ||
+ | * h:抬脚幅度 | ||
+ | * direction:方向,1为向左,-1为向右 | ||
+ | |- | ||
+ | |<font size=4px>crusaito(steps,time,h,direction)</font> | ||
+ | |'''函数功能:'''滑步<br />'''参数:''' | ||
+ | * steps:步数 | ||
+ | * time:单步时间,单位毫秒 | ||
+ | * h:抬脚幅度 | ||
+ | * direction:方向,1为向左,-1为向右 | ||
+ | |- | ||
+ | |<font size=4px>flapping(steps,time,h,direction)</font> | ||
+ | |'''函数功能:'''八字摇摆<br />'''参数:''' | ||
+ | * steps:步数 | ||
+ | * time:单步时间,单位毫秒 | ||
+ | * h:抬脚幅度 | ||
+ | * direction:方向,1为向前,-1为向后 | ||
+ | |- | ||
+ | |<font size=4px>jump(time)</font> | ||
+ | |'''函数功能:'''跳跃<br />'''参数:''' | ||
+ | * time:单步时间,单位毫秒 | ||
+ | |- | ||
+ | |<font size=4px>turn(steps,time,h,direction)</font> | ||
+ | |'''函数功能:'''向左、右转向<br />'''参数:''' | ||
+ | * steps:步数 | ||
+ | * time:单步时间,单位毫秒 | ||
+ | * h:抬脚幅度 | ||
+ | * direction:方向,1为向前,-1为向后 | ||
+ | |- | ||
+ | | valign="center" align="center"|<font size=4>手部/脚部舵机控制</font> | ||
+ | |<font size=4px>setServo(number,angle)</font> | ||
+ | |'''函数功能:'''S1-S4,4路的舵机驱动<br />'''参数:''' | ||
+ | * number:控制舵机序号0~3,对应S1-S4 | ||
+ | * angle:舵机角度,范围-45°~45° | ||
+ | {|style="background-color:#FCF8E3;color:#8A6D3B;" | ||
+ | |- | ||
+ | |style="padding: 2px;"| [[File:warning_yellow.png|25px|center]] ||'''注意''' | ||
+ | | | ||
+ | * 在使用setServo()设置完舵机角度要,需要使用updatePosition()执行舵机! | ||
+ | * 在控制手部和脚部的舵机时,需要了解对应舵机的驱动编号,具体详见机器人硬件连接图! | ||
+ | |} | ||
+ | <br /> | ||
+ | |- | ||
+ | | valign="center" align="center"|<font size=4>音乐播放</font> | ||
+ | |<font size=4px>music.play(music)</font> | ||
+ | |'''函数功能:'''播放曲目<br />'''参数:''' | ||
+ | * music:microbit内置曲目,如music.BA_DING、music.NYAN、 | ||
+ | :music.BIRTHDAY等 <br/> | ||
+ | [详细的microbit曲目和更多的Music用法,请查阅 [https://microbit-micropython.readthedocs.io/en/latest/tutorials/music.html BBC micro:bit MicroPython Music ] | ||
+ | |- | ||
+ | | valign="center" align="center"|<font size=4>轮子控制</font> | ||
+ | |<font size=4px>motion(leftSpeed, rightSpeed)</font> | ||
+ | |'''函数功能:'''轮式机器人两轮的控制<br />'''参数:''' | ||
+ | * leftSpeed:左轮速度控制,范围-2000~2000;<br/>当为负数时后退,正数时前进,数字越大转速越大; | ||
+ | * rightSpeed:右轮速度控制,范围-2000~2000;<br/>当为负数时后退,正数时前进,数字越大转速越大; | ||
+ | |- | ||
+ | | valign="center" align="center"|<font size=4>超声波</font> | ||
+ | |<font size=4px>distance()</font> | ||
+ | |'''函数功能:'''返回超声波测距<br /> | ||
+ | |- | ||
+ | | rowspan="2" valign="center" align="center"|<font size=4>RGB灯控制</font> | ||
+ | |<font size=4px>setRGB(cmd,r,g,b)</font> | ||
+ | |'''函数功能:'''控制RGB灯(RGB颜色模型)<br />'''参数:''' | ||
+ | * cmd:左灯:2,右灯:3 | ||
+ | * r,g,b:范围0~255 | ||
+ | |- | ||
+ | |<font size=4px>setHSV(cmd,h,s,v)</font> | ||
+ | |'''函数功能:'''控制RGB灯(HSV颜色模型)<br />'''参数:''' | ||
+ | * cmd:左灯:4,右灯:5 | ||
+ | * h,s,v:色调(h)取值范围0~360,饱和度(s)取值范围0~1,明度(v)取值范围0~1 | ||
+ | |- | ||
+ | | valign="center" align="center"|<font size=4>循迹</font> | ||
+ | |<font size=4px>PIDtracking(kp,kd,trackSpeed)</font> | ||
+ | |'''函数功能:'''PID算法循迹<br />'''参数:''' | ||
+ | * kp:PID算法中的P比例控制 | ||
+ | * kd:PID算法中的D微分控制 | ||
+ | * trackSpeed:范围0~2000 | ||
+ | {|style="background-color:#FCF8E3;color:#8A6D3B;" <br/> | ||
+ | |- | ||
+ | |具体的应用可详见下文的循迹示例! | ||
+ | |} | ||
+ | |} | ||
+ | <br /> | ||
+ | <br /> | ||
+ | <br /> | ||
+ | |||
+ | ==应用示例== | ||
+ | ===<font size=4px> 行走式Python编程示例</font>=== | ||
+ | ====<font size=3px> 跳舞机器人</font>==== | ||
<pre style="color:blue"> | <pre style="color:blue"> | ||
− | |||
from microbit import * | from microbit import * | ||
import music | import music | ||
第52行: | 第192行: | ||
servo_pos[servo*2 + 1] = int(a / 256) | servo_pos[servo*2 + 1] = int(a / 256) | ||
servo_pos[servo*2 + 2] = int(a % 256) | servo_pos[servo*2 + 2] = int(a % 256) | ||
− | |||
def updatePosition(): | def updatePosition(): | ||
servo_pos[0] = 0 | servo_pos[0] = 0 | ||
− | i2c.write(0x2A, servo_pos) | + | i2c.write(0x2A, servo_pos) |
− | |||
def getDistance(): | def getDistance(): | ||
i2c.write(0x0b, bytearray([1])) | i2c.write(0x0b, bytearray([1])) | ||
第77行: | 第215行: | ||
phase[i] = phase[i] + inc | phase[i] = phase[i] + inc | ||
updatePosition() | updatePosition() | ||
− | |||
def action(A, O, DIFF, T, steps): | def action(A, O, DIFF, T, steps): | ||
global inc, amplitude, phase_start, offset | global inc, amplitude, phase_start, offset | ||
第125行: | 第262行: | ||
DIFF = [90, 90, 0, math.pi/180*dir*-60] | DIFF = [90, 90, 0, math.pi/180*dir*-60] | ||
action(AMP, OFFSET, DIFF, T, steps) | action(AMP, OFFSET, DIFF, T, steps) | ||
− | |||
def flapping(steps, T, h, dir): | def flapping(steps, T, h, dir): | ||
AMP = [12, 12, h, h] | AMP = [12, 12, h, h] | ||
第155行: | 第291行: | ||
servo_position[i] = servo_target[i] | servo_position[i] = servo_target[i] | ||
return | return | ||
− | def jump( | + | def jump(T): |
up = [0, 0, 45, -45] | up = [0, 0, 45, -45] | ||
moveServos(T, up) | moveServos(T, up) | ||
第186行: | 第322行: | ||
</pre> | </pre> | ||
− | === | + | ===<font size=4px> 轮式机器人Python编程示例</font>=== |
− | + | ||
− | + | ==== <font size=3px>遥控轮式机器人</font>==== | |
− | ==== | + | <font size=3px> 程序说明:需要下载有两个程序,一个是micro:bit作为遥控程序,另一个为bot:bit执行动作程序。micro:bit实时发送xyz加速度数据操控bot:bit轮子行走,按下「A」按键+xyz加速度操控两臂动作。</font> |
− | + | <br /><br /> | |
− | + | <font size=3px>* micro:bit遥控程序</font> | |
− | |||
− | |||
− | * micro:bit遥控程序 | ||
<pre style="color:blue"> | <pre style="color:blue"> | ||
from microbit import * | from microbit import * | ||
第234行: | 第367行: | ||
</pre> | </pre> | ||
− | * | + | <br/> |
+ | <br/> | ||
+ | <font size=3px>* 轮式机器人执行程序</font> | ||
<pre style="color:blue"> | <pre style="color:blue"> | ||
# -*- coding: utf-8 -*- | # -*- coding: utf-8 -*- | ||
第250行: | 第385行: | ||
motor_pwm.ch4 = M2.B | motor_pwm.ch4 = M2.B | ||
''' | ''' | ||
+ | |||
def motion(leftSpeed, rightSpeed): | def motion(leftSpeed, rightSpeed): | ||
第312行: | 第448行: | ||
dis = (temp[0]+temp[1]*256)/10 | dis = (temp[0]+temp[1]*256)/10 | ||
return dis | return dis | ||
+ | |||
# application | # application | ||
第339行: | 第476行: | ||
a = msg[6]*256 + msg[7] | a = msg[6]*256 + msg[7] | ||
if a == 0: | if a == 0: | ||
− | left = int((y + x) | + | left = int((y + x) ) |
− | right = int((y - x) | + | right = int((y - x)) |
− | # print('left = ', left) | + | #print('left = ', left) |
− | # print('right = ', right) | + | #print('right = ', right) |
− | motion(right, left) | + | motion(-right, -left) |
if (a & 0x03) != 0: | if (a & 0x03) != 0: | ||
motion(0, 0) | motion(0, 0) | ||
第353行: | 第490行: | ||
sh = min(max(-45, sh), 45) | sh = min(max(-45, sh), 45) | ||
if (a & 0x01) != 0: | if (a & 0x01) != 0: | ||
− | setServo(0, sv) | + | setServo(0, -sv) |
− | setServo( | + | setServo(2, -sh) |
if (a & 0x02) != 0: | if (a & 0x02) != 0: | ||
− | setServo( | + | setServo(1, sv) |
setServo(3, sh) | setServo(3, sh) | ||
updatePosition() | updatePosition() | ||
</pre> | </pre> | ||
+ | <br/> | ||
+ | ==== <font size=3px>循迹机器人</font>==== | ||
+ | {|style="background-color:#FCF8E3;color:#8A6D3B;" | ||
+ | |- | ||
+ | |style="padding: 2px;"| [[File:warning_yellow.png|25px|center]] ||'''注意''' | ||
+ | |只有V2.1版本机器人才支持循迹功能 | ||
+ | |} | ||
+ | |||
+ | 程序使用说明:打开电源,将机器人放置在循迹黑线的中间位置。上电后,机器人原地逆时针旋转,进行红外循迹的黑白校准。校准完成后,机器人进入循迹模式。 <br/> | ||
+ | <pre style="color:blue"> | ||
+ | # -*- coding: utf-8 -*- | ||
+ | from microbit import * | ||
+ | import music | ||
+ | import math | ||
+ | import radio | ||
+ | |||
+ | motor_pwm = bytearray([8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]) | ||
+ | servo_pos = bytearray([0, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC]) | ||
+ | |||
+ | # motion functions | ||
+ | def motion(leftSpeed, rightSpeed): | ||
+ | if leftSpeed > 2000: | ||
+ | leftSpeed = 2000 | ||
+ | if leftSpeed < -2000: | ||
+ | leftSpeed = -2000 | ||
+ | if leftSpeed == 0: | ||
+ | motor_pwm[1] = 0 | ||
+ | motor_pwm[2] = 0 | ||
+ | motor_pwm[3] = 0 | ||
+ | motor_pwm[4] = 0 | ||
+ | if leftSpeed > 0: | ||
+ | motor_pwm[1] = int(leftSpeed / 256) | ||
+ | motor_pwm[2] = int(leftSpeed % 256) | ||
+ | motor_pwm[3] = 0 | ||
+ | motor_pwm[4] = 0 | ||
+ | if leftSpeed < 0: | ||
+ | leftSpeed = -leftSpeed | ||
+ | motor_pwm[1] = 0 | ||
+ | motor_pwm[2] = 0 | ||
+ | motor_pwm[3] = int(leftSpeed / 256) | ||
+ | motor_pwm[4] = int(leftSpeed % 256) | ||
+ | if rightSpeed > 2000: | ||
+ | rightSpeed = 2000 | ||
+ | if rightSpeed < -2000: | ||
+ | rightSpeed = -2000 | ||
+ | if rightSpeed == 0: | ||
+ | motor_pwm[5] = 0 | ||
+ | motor_pwm[6] = 0 | ||
+ | motor_pwm[7] = 0 | ||
+ | motor_pwm[8] = 0 | ||
+ | if rightSpeed > 0: | ||
+ | motor_pwm[5] = 0 | ||
+ | motor_pwm[6] = 0 | ||
+ | motor_pwm[7] = int(rightSpeed / 256) | ||
+ | motor_pwm[8] = int(rightSpeed % 256) | ||
+ | if rightSpeed < 0: | ||
+ | rightSpeed = -rightSpeed | ||
+ | motor_pwm[5] = int(rightSpeed / 256) | ||
+ | motor_pwm[6] = int(rightSpeed % 256) | ||
+ | motor_pwm[7] = 0 | ||
+ | motor_pwm[8] = 0 | ||
+ | i2c.write(0x2A, motor_pwm) | ||
+ | |||
+ | |||
+ | # servo functions | ||
+ | def setServo(servo, angle): | ||
+ | "set the servo angel" | ||
+ | a = (1.5 + angle/90) * 1000 | ||
+ | servo_pos[servo*2 + 1] = int(a / 256) | ||
+ | servo_pos[servo*2 + 2] = int(a % 256) | ||
+ | |||
+ | |||
+ | def updatePosition(): | ||
+ | servo_pos[0] = 0 | ||
+ | try: | ||
+ | i2c.write(0x2A, servo_pos) | ||
+ | except: | ||
+ | print("i2c error") | ||
+ | |||
+ | def BatteryLevel(): | ||
+ | return i2c.read(0x2A, 1)[0] | ||
+ | |||
+ | def distance(): | ||
+ | i2c.write(0x0b, bytearray([1])) | ||
+ | sleep(2) | ||
+ | temp=i2c.read(0x0b,2) | ||
+ | distanceCM=(temp[0]+temp[1]*256)/10 | ||
+ | return distanceCM | ||
+ | |||
+ | def setRGB(cmd,r,g,b): #cmd: 2 leftLed 3: rightLed r,g,b range:0-255 | ||
+ | i2c.write(0x0b,bytearray([cmd,r,g,b])) | ||
+ | sleep(1) | ||
+ | |||
+ | def setHSV(cmd,h,s,v): #cmd: 4 leftLed 5: rightLed h range:0-360 s v range:0-1 | ||
+ | _h1 = h%256 | ||
+ | _h2 = h//256 | ||
+ | _s = int(s*100) | ||
+ | _v = int(v*100) | ||
+ | i2c.write(0x0b,bytearray([cmd,_h1,_h2,_s,_v])) | ||
+ | sleep(1) | ||
+ | |||
+ | sensor_min = [1024, 1024, 1024, 1024, 1024] | ||
+ | sensor_max = [0, 0, 0, 0, 0] | ||
+ | sensor = [0, 0, 0, 0, 0] | ||
+ | sensor_pin = (pin3, pin1, pin10, pin2, pin4) | ||
+ | # calibration | ||
+ | def Calibrate(): | ||
+ | global sensor_min, sensor_max, sensor,sensor_pin | ||
+ | motion(-1000, 1000) | ||
+ | t = running_time() | ||
+ | while (running_time() - t) < 5000: | ||
+ | for i in range(5): | ||
+ | sensor[i] = sensor_pin[i].read_analog() | ||
+ | sensor_min[i] = min(sensor[i], sensor_min[i]) | ||
+ | sensor_max[i] = max(sensor[i], sensor_max[i]) | ||
+ | motion(0, 0) | ||
+ | print("sensors min value:%d,%d,%d,%d,%d" % \ | ||
+ | (sensor_min[0], sensor_min[1], sensor_min[2], sensor_min[3], sensor_min[4])) | ||
+ | print("sensors max value:%d,%d,%d,%d,%d" % \ | ||
+ | (sensor_max[0], sensor_max[1], sensor_max[2], sensor_max[3], sensor_max[4])) | ||
+ | |||
+ | def ReadLineSensor(): | ||
+ | global sensor_min, sensor_max, sensor,sensor_pin | ||
+ | for i in range(5): | ||
+ | sensor[i] = sensor_pin[i].read_analog() | ||
+ | sensor[i] = round((sensor[i] - sensor_min[i]) / (sensor_max[i] - sensor_min[i]) * 1000) | ||
+ | |||
+ | sum = sensor[0] + sensor[1] + sensor[2] + sensor[3] + sensor[4] | ||
+ | if sum <= 0: | ||
+ | return 0 | ||
+ | else: | ||
+ | return (sensor[0] + sensor[1] * 1000 + sensor[2] * 2000 + sensor[3] * 3000 + sensor[4]*4000) / sum | ||
+ | |||
+ | def PIDtracking(kp,kd,trackSpeed): | ||
+ | global pre_line_pos | ||
+ | line_pos = ReadLineSensor() - 2000 | ||
+ | correction = kp * line_pos + kd * (line_pos - pre_line_pos) | ||
+ | pre_line_pos = line_pos | ||
+ | print('correction:',correction) | ||
+ | if correction > 0: | ||
+ | motion(trackSpeed - correction, trackSpeed) | ||
+ | else: | ||
+ | motion(trackSpeed, trackSpeed + correction) | ||
+ | |||
+ | # application | ||
+ | t=0 | ||
+ | display.off() | ||
+ | motion(0, 0) | ||
+ | pin3.read_digital() | ||
+ | pin4.read_digital() | ||
+ | pin10.read_digital() | ||
+ | pin3.set_pull(pin3.NO_PULL) | ||
+ | pin4.set_pull(pin4.NO_PULL) | ||
+ | pin10.set_pull(pin10.NO_PULL) | ||
+ | setServo(0,-45) | ||
+ | setServo(2,-45) | ||
+ | setServo(1,45) | ||
+ | setServo(3,45) | ||
+ | updatePosition() | ||
+ | Calibrate() | ||
+ | #kp = float(input('kp=:')) | ||
+ | #kd = float(input('kd=:')) | ||
+ | pre_line_pos = ReadLineSensor() - 2000 | ||
+ | while True: | ||
+ | for i in range(360): | ||
+ | setHSV(4,i,1.0,1.0) | ||
+ | setHSV(5,i,1.0,1.0) | ||
+ | PIDtracking(1.8,5,1200) | ||
+ | sleep(10) | ||
+ | |||
+ | |||
+ | </pre> | ||
+ | <br/> | ||
+ | |||
+ | == 版本历史记录 == | ||
+ | |||
+ | {| border="1" cellspacing="0" align="left" cellpadding="0" width="60%" style="text-align:center;" | ||
+ | |- style="text-align:center;background-color:#6fa8dc;color:#fffff;" | ||
+ | !width="10%"|Version !!width="15%"| Date !! <small>新增/删除/修复</small> | ||
+ | |- | ||
+ | | V2.1 ||2018/07/07 || style="text-align:left"|增加循迹功能超声波板<br/>增加RGB灯功能和优化超声波电路<br/>由USB串口改为蓝牙串口<br/>锂电池由2节改为3节并联,容量更大 | ||
+ | |- | ||
+ | | V1.2 || || style="text-align:left"| | ||
+ | |} |
2018年9月3日 (一) 14:32的最新版本
目录
概述
bot:bit人形机器人是一款可以编程控制的人形机器人,支持Mpython图形化编程和Python代码编程,简单易学,通过编程可拓展人的空间思维空间能力。机器人具有多种工作形态,一是装4自由度舵机作为手臂,加上2路电机作为轮子,自由移动的同时双手可灵活操作;二是装有4自由度舵机作为双腿、实现自由行走、避障 循迹。
技术参数
- 动作灵活:全身拥有8个动作关节,拟人造型,实现动作舞蹈,身手灵活。
- 无线遥控:2.4GHz射频传输模块和蓝牙模块,可实现遥控格斗运动,欢乐无穷。
- 内置加速度计
- 测距避障:内置的高精度超声波模块,能快速返回测量信息、走迷宫、越野的多种任务挑战
- 循迹:采用5对红外收发管
- 高续航:3节并联14500锂电池,可循环充电,支持课堂教学应用。
引脚定义/接口说明
bot:bit循迹板引脚定义 |
使用教程
结构组装
bot:bit有以下两种形态,外壳结构部分的组装详见组装说明!
注意: | 在安装舵盘前,请先烧录"组装程序.hex",使舵机角度归零后再按要求按装舵盘! |
File:Bobit组装程序.rar |
行走式机器人
4自由度舵机作为双腿、实现自由行走
轮式机器人
4自由度舵机作为手臂,加上2路电机作为轮子,自由移动的同时双手可灵活操作
连接示意图
根据不同bot:bit形态,按示意图将手或脚部的舵机、循迹板、直流电机、电池等连接至主板上
行走式机器人硬件连接
轮式机器人硬件连接
程序下载快速指南
Step1.m:python编程软件安装:
双击mpythonSetup.exe按提示安装编程程序。进入官网下载 ( http://labplus.cn/index.php/product/download )
系统要求:windows7/windows8/windows10,32/64位;windows XP。
Step2.Micro:bit 串口驱动安装:双击mbedWinSerial.exe,按提示安装串口驱动。如需要USB串口打印数据须安装该驱动,不需要可跳过此步骤。
- 进入官网下载 ( http://labplus.cn/index.php/product/download )
- 进入官网下载 ( http://labplus.cn/index.php/product/download )
Step3.硬件识别:USB接口连接至电脑,打开电源开关。电脑将自动识别到可移动存储设备MICROBIT。
Step4. 程序设计:打开mpython编程软件,根据需要选择图形化编程或python代码编程方式来完成程序。点击软件指令区,选择对应指令进行编程,更方便快速的设计程序。也可点击菜单栏“模块化”,可切换至代码编程。
Step5. 程序完成后,点击,下载程序并保存到microbit可移动盘上 ,待下载指示灯闪烁完毕后,说明程序下载成功。
更多m:python编程软件操作说明可查看 http://wiki.labplus.cn/index.php?title=Mpython
API 应用程序编程接口
类别 | 函数名 | 说明 | |||
---|---|---|---|---|---|
脚部控制 | walking(steps,time, direction) | 函数功能:向前、后行走 参数:
| |||
moonwalker(steps,time,h,direction) | 函数功能:迈克尔杰克逊的太空漫步 参数:
| ||||
crusaito(steps,time,h,direction) | 函数功能:滑步 参数:
| ||||
flapping(steps,time,h,direction) | 函数功能:八字摇摆 参数:
| ||||
jump(time) | 函数功能:跳跃 参数:
| ||||
turn(steps,time,h,direction) | 函数功能:向左、右转向 参数:
| ||||
手部/脚部舵机控制 | setServo(number,angle) | 函数功能:S1-S4,4路的舵机驱动 参数:
| |||
音乐播放 | music.play(music) | 函数功能:播放曲目 参数:
[详细的microbit曲目和更多的Music用法,请查阅 BBC micro:bit MicroPython Music | |||
轮子控制 | motion(leftSpeed, rightSpeed) | 函数功能:轮式机器人两轮的控制 参数:
| |||
超声波 | distance() | 函数功能:返回超声波测距 | |||
RGB灯控制 | setRGB(cmd,r,g,b) | 函数功能:控制RGB灯(RGB颜色模型) 参数:
| |||
setHSV(cmd,h,s,v) | 函数功能:控制RGB灯(HSV颜色模型) 参数:
| ||||
循迹 | PIDtracking(kp,kd,trackSpeed) | 函数功能:PID算法循迹 参数:
|
应用示例
行走式Python编程示例
跳舞机器人
from microbit import * import music import math servo_pos = bytearray([0, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC]) def setServo(servo, angle): "set the servo angel" a = (1.5 + angle/90) * 1000 servo_pos[servo*2 + 1] = int(a / 256) servo_pos[servo*2 + 2] = int(a % 256) def updatePosition(): servo_pos[0] = 0 i2c.write(0x2A, servo_pos) def getDistance(): i2c.write(0x0b, bytearray([1])) temp=i2c.read(0x0B,2) dis =(temp[0]+temp[1]*256)/10 return dis inc = 0 phase_start=[0, 0, 0, 0] phase=[0, 0, 0, 0] offset=[0, 0, 0, 0] amplitude=[0, 0, 0, 0] t = 0 def refresh(): global t, phase, inc, amplitude, phase_start if (running_time() - t) > 50: t = running_time() for i in range(0, 4): pos = round(amplitude[i]*math.sin(phase[i] + phase_start[i]) + offset[i]) setServo(i, pos) phase[i] = phase[i] + inc updatePosition() def action(A, O, DIFF, T, steps): global inc, amplitude, phase_start, offset t2 = 0 inc = 2*math.pi/(T/50) for i in range(0, 4): amplitude[i] = A[i] phase_start[i] = DIFF[i] offset[i] = O[i] cycle = int(steps) t2 = running_time() + T*cycle while (running_time() < t2): refresh() for i in range(0, 4): amplitude[i] = A[i] phase_start[i] = DIFF[i] offset[i] = O[i] # move the servo t2 = running_time() + T*(steps - cycle) while (running_time() < t2): refresh() def walking(steps, T=1000, dir=1): AMP = (30, 30, 20, 20) OFFSET = (0, 0, 4, -4) DIFF = (0, 0, -math.pi/2 * dir, -math.pi/2 * dir) action(AMP, OFFSET, DIFF, T, steps) return def turn(steps, T=2000, dir=1): OFFSET = [0, 0, 4, -4] DIFF = (0, 0, -math.pi/2 * dir, -math.pi/2 * dir) if dir == 1: AMP = (30, 10, 20, 20) else: AMP = (10, 30, 20, 20) action(AMP, OFFSET, DIFF, T, steps) return def moonwalker(steps, T=900, h=20, dir=1): 'Moonwalker. Otto moves like Michael Jackson' AMP = [0, 0, h, h] OFFSET = [0, 0, h/2 + 2, -h/2 -2] DIFF = [0, 0, math.pi/180*dir*-90, math.pi/180*dir*-150] action(AMP, OFFSET, DIFF, T, steps) return def crusaito(steps, T, h, dir): AMP = [25, 25, h, h] OFFSET = [0, 0, h/2+ 4, -h/2 - 4] DIFF = [90, 90, 0, math.pi/180*dir*-60] action(AMP, OFFSET, DIFF, T, steps) def flapping(steps, T, h, dir): AMP = [12, 12, h, h] OFFSET = [0, 0, h-10, -h+10] DIFF = [0, math.pi/180*180, math.pi/180*dir*-90, math.pi/180*dir*90] action(AMP, OFFSET, DIFF, T, steps) return servo_position = [0, 0, 0, 0] servo_increment = [0, 0, 0, 0] def moveServos(time, servo_target): if time > 20: for i in range(0, 4): servo_increment[i] = (servo_target[i] - servo_position[i])/(time/20) final_time = running_time() + time; iteration = 1 while running_time() < final_time: partial_time = running_time()+20 for i in range(0, 4): setServo(i, servo_position[i]+iteration*servo_increment[i]) updatePosition() while running_time() < partial_time: pass iteration = iteration+1 else: for i in range(0, 4): setServo(i, servo_target[i]) updatePosition() for i in range(0, 4): servo_position[i] = servo_target[i] return def jump(T): up = [0, 0, 45, -45] moveServos(T, up) down = [0, 0, 0, 0] moveServos(T, down) return def home(): for i in range(0, 4): setServo(i, 0) servo_position[i] = 0 updatePosition() display.off() home() while True: walking(5, 1500, 1) walking(5, 1500, -1) music.play(music.BA_DING) moonwalker(5, 1000, 25, 1) moonwalker(5, 1000, 25, -1) music.play(music.BADDY) crusaito(8, 1000, 15, 1) crusaito(8, 1000, 15, -1) crusaito(4, 2000, 15, 1) crusaito(4, 2000, 15, -1) music.play(music.NYAN) flapping(5, 1500, 15, 1) flapping(5, 1500, 15, -1) music.play(music.BIRTHDAY)
轮式机器人Python编程示例
遥控轮式机器人
程序说明:需要下载有两个程序,一个是micro:bit作为遥控程序,另一个为bot:bit执行动作程序。micro:bit实时发送xyz加速度数据操控bot:bit轮子行走,按下「A」按键+xyz加速度操控两臂动作。
* micro:bit遥控程序
from microbit import * import radio radio.on() radio.config(length=8, queue=3, channel=79, power=7, address=0x44773311, group=0x1B, data_rate=radio.RATE_250KBIT) msg = bytearray(8) x = 0 y = 0 z = 0 a = 0 while True: x = accelerometer.get_x() y = accelerometer.get_y() z = accelerometer.get_z() if button_a.is_pressed(): a = a | 0x01 else: a = a & 0xFE if button_b.is_pressed(): a = a | 0x02 else: a = a & 0xFD x = x + 10000; msg[0] = int(x / 256) msg[1] = x % 256 y = y + 10000; msg[2] = int(y / 256) msg[3] = y % 256 z = z + 10000; msg[4] = int(z / 256) msg[5] = z % 256 msg[6] = int(a / 256) msg[7] = a % 256 radio.send_bytes(msg) sleep(100)
* 轮式机器人执行程序
# -*- coding: utf-8 -*- from microbit import * import radio import math motor_pwm = bytearray([8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]) servo_pos = bytearray([0, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC]) ''' motor_pwm.ch1 = M1.A motor_pwm.ch2 = M1.B motor_pwm.ch3 = M2.A motor_pwm.ch4 = M2.B ''' def motion(leftSpeed, rightSpeed): if leftSpeed > 2000: leftSpeed = 2000 if leftSpeed < -2000: leftSpeed = -2000 if leftSpeed == 0: motor_pwm[1] = 0 motor_pwm[2] = 0 motor_pwm[3] = 0 motor_pwm[4] = 0 if leftSpeed > 0: motor_pwm[1] = int(leftSpeed / 256) motor_pwm[2] = int(leftSpeed % 256) motor_pwm[3] = 0 motor_pwm[4] = 0 if leftSpeed < 0: leftSpeed = -leftSpeed motor_pwm[1] = 0 motor_pwm[2] = 0 motor_pwm[3] = int(leftSpeed / 256) motor_pwm[4] = int(leftSpeed % 256) if rightSpeed > 2000: rightSpeed = 2000 if rightSpeed < -2000: rightSpeed = -2000 if rightSpeed == 0: motor_pwm[5] = 0 motor_pwm[6] = 0 motor_pwm[7] = 0 motor_pwm[8] = 0 if rightSpeed > 0: motor_pwm[5] = 0 motor_pwm[6] = 0 motor_pwm[7] = int(rightSpeed / 256) motor_pwm[8] = int(rightSpeed % 256) if rightSpeed < 0: rightSpeed = -rightSpeed motor_pwm[5] = int(rightSpeed / 256) motor_pwm[6] = int(rightSpeed % 256) motor_pwm[7] = 0 motor_pwm[8] = 0 i2c.write(0x2A, motor_pwm) def setServo(servo, angle): "set the servo angel" a = (1.5 + angle/90) * 1000 servo_pos[servo*2 + 1] = int(a / 256) servo_pos[servo*2 + 2] = int(a % 256) def updatePosition(): servo_pos[0] = 0 i2c.write(0x2A, servo_pos) def getDistance(): i2c.write(0x0b, bytearray([1])) temp = i2c.read(0x0B, 2) dis = (temp[0]+temp[1]*256)/10 return dis # application display.off() motion(0, 0) radio.on() radio.config(length=8, queue=20, channel=79, power=7, address=0x44773311, group=0x1B, data_rate=radio.RATE_250KBIT) x = 0 y = 0 z = 0 a = 0 left = 0 right = 0 while True: # print("running") msg = bytes(8) msg = radio.receive_bytes() if msg is not None: x = msg[0]*256 + msg[1] x = x - 10000 y = msg[2]*256 + msg[3] y = y - 10000 z = msg[4]*256 + msg[5] z = z - 10000 a = msg[6]*256 + msg[7] if a == 0: left = int((y + x) ) right = int((y - x)) #print('left = ', left) #print('right = ', right) motion(-right, -left) if (a & 0x03) != 0: motion(0, 0) y = min(max(-1000, y), 1000) x = min(max(-1000, x), 1000) sv = math.asin(y/1000)*180/math.pi sh = math.asin(x/1000)*180/math.pi sv = min(max(-45, sv), 45) sh = min(max(-45, sh), 45) if (a & 0x01) != 0: setServo(0, -sv) setServo(2, -sh) if (a & 0x02) != 0: setServo(1, sv) setServo(3, sh) updatePosition()
循迹机器人
注意 | 只有V2.1版本机器人才支持循迹功能 |
程序使用说明:打开电源,将机器人放置在循迹黑线的中间位置。上电后,机器人原地逆时针旋转,进行红外循迹的黑白校准。校准完成后,机器人进入循迹模式。
# -*- coding: utf-8 -*- from microbit import * import music import math import radio motor_pwm = bytearray([8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]) servo_pos = bytearray([0, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC, 0x05, 0xDC]) # motion functions def motion(leftSpeed, rightSpeed): if leftSpeed > 2000: leftSpeed = 2000 if leftSpeed < -2000: leftSpeed = -2000 if leftSpeed == 0: motor_pwm[1] = 0 motor_pwm[2] = 0 motor_pwm[3] = 0 motor_pwm[4] = 0 if leftSpeed > 0: motor_pwm[1] = int(leftSpeed / 256) motor_pwm[2] = int(leftSpeed % 256) motor_pwm[3] = 0 motor_pwm[4] = 0 if leftSpeed < 0: leftSpeed = -leftSpeed motor_pwm[1] = 0 motor_pwm[2] = 0 motor_pwm[3] = int(leftSpeed / 256) motor_pwm[4] = int(leftSpeed % 256) if rightSpeed > 2000: rightSpeed = 2000 if rightSpeed < -2000: rightSpeed = -2000 if rightSpeed == 0: motor_pwm[5] = 0 motor_pwm[6] = 0 motor_pwm[7] = 0 motor_pwm[8] = 0 if rightSpeed > 0: motor_pwm[5] = 0 motor_pwm[6] = 0 motor_pwm[7] = int(rightSpeed / 256) motor_pwm[8] = int(rightSpeed % 256) if rightSpeed < 0: rightSpeed = -rightSpeed motor_pwm[5] = int(rightSpeed / 256) motor_pwm[6] = int(rightSpeed % 256) motor_pwm[7] = 0 motor_pwm[8] = 0 i2c.write(0x2A, motor_pwm) # servo functions def setServo(servo, angle): "set the servo angel" a = (1.5 + angle/90) * 1000 servo_pos[servo*2 + 1] = int(a / 256) servo_pos[servo*2 + 2] = int(a % 256) def updatePosition(): servo_pos[0] = 0 try: i2c.write(0x2A, servo_pos) except: print("i2c error") def BatteryLevel(): return i2c.read(0x2A, 1)[0] def distance(): i2c.write(0x0b, bytearray([1])) sleep(2) temp=i2c.read(0x0b,2) distanceCM=(temp[0]+temp[1]*256)/10 return distanceCM def setRGB(cmd,r,g,b): #cmd: 2 leftLed 3: rightLed r,g,b range:0-255 i2c.write(0x0b,bytearray([cmd,r,g,b])) sleep(1) def setHSV(cmd,h,s,v): #cmd: 4 leftLed 5: rightLed h range:0-360 s v range:0-1 _h1 = h%256 _h2 = h//256 _s = int(s*100) _v = int(v*100) i2c.write(0x0b,bytearray([cmd,_h1,_h2,_s,_v])) sleep(1) sensor_min = [1024, 1024, 1024, 1024, 1024] sensor_max = [0, 0, 0, 0, 0] sensor = [0, 0, 0, 0, 0] sensor_pin = (pin3, pin1, pin10, pin2, pin4) # calibration def Calibrate(): global sensor_min, sensor_max, sensor,sensor_pin motion(-1000, 1000) t = running_time() while (running_time() - t) < 5000: for i in range(5): sensor[i] = sensor_pin[i].read_analog() sensor_min[i] = min(sensor[i], sensor_min[i]) sensor_max[i] = max(sensor[i], sensor_max[i]) motion(0, 0) print("sensors min value:%d,%d,%d,%d,%d" % \ (sensor_min[0], sensor_min[1], sensor_min[2], sensor_min[3], sensor_min[4])) print("sensors max value:%d,%d,%d,%d,%d" % \ (sensor_max[0], sensor_max[1], sensor_max[2], sensor_max[3], sensor_max[4])) def ReadLineSensor(): global sensor_min, sensor_max, sensor,sensor_pin for i in range(5): sensor[i] = sensor_pin[i].read_analog() sensor[i] = round((sensor[i] - sensor_min[i]) / (sensor_max[i] - sensor_min[i]) * 1000) sum = sensor[0] + sensor[1] + sensor[2] + sensor[3] + sensor[4] if sum <= 0: return 0 else: return (sensor[0] + sensor[1] * 1000 + sensor[2] * 2000 + sensor[3] * 3000 + sensor[4]*4000) / sum def PIDtracking(kp,kd,trackSpeed): global pre_line_pos line_pos = ReadLineSensor() - 2000 correction = kp * line_pos + kd * (line_pos - pre_line_pos) pre_line_pos = line_pos print('correction:',correction) if correction > 0: motion(trackSpeed - correction, trackSpeed) else: motion(trackSpeed, trackSpeed + correction) # application t=0 display.off() motion(0, 0) pin3.read_digital() pin4.read_digital() pin10.read_digital() pin3.set_pull(pin3.NO_PULL) pin4.set_pull(pin4.NO_PULL) pin10.set_pull(pin10.NO_PULL) setServo(0,-45) setServo(2,-45) setServo(1,45) setServo(3,45) updatePosition() Calibrate() #kp = float(input('kp=:')) #kd = float(input('kd=:')) pre_line_pos = ReadLineSensor() - 2000 while True: for i in range(360): setHSV(4,i,1.0,1.0) setHSV(5,i,1.0,1.0) PIDtracking(1.8,5,1200) sleep(10)
版本历史记录
Version | Date | 新增/删除/修复 |
---|---|---|
V2.1 | 2018/07/07 | 增加循迹功能超声波板 增加RGB灯功能和优化超声波电路 由USB串口改为蓝牙串口 锂电池由2节改为3节并联,容量更大 |
V1.2 |