aerobotics

【Training Camp】Simple Mechanical Dog

 
Overview
Introduction to the simple mechanical dog main control board. I first participated in Jialichuang's training camp. I wanted to make a complete mechanical dog at first, but due to problems of strength and time, I only completed the verification of the hardware and simple programming of the software. If there is any Errors, please correct me. Introduction to the Tolerance Project. The hardware is developed based on the Hongmeng development module HI3861 of Chuanzhi Education. The software is programmed on the Linux virtual machine and then burned and verified on Windows. The hardware tells me the difference between the template board and the template board. It is powered by RT9013. Smaller and cheaper. Use the CH340 module to convert USB to serial port, reduce wiring, separate analog power supply and digital power supply to avoid interference with the software. Here is a brief demonstration of my pwm verification code #include #include #include #include "ohos_init.h" #include "cmsis_os2.h" #include "iot_gpio.h" #include "iot_pwm.h" #include "iot_io.h" #include "genki_pin.h" static void start(void) { //Initialize the GPIO port IoTGpioInit(IOT_IO_NAME_14); //Set the IO port function to GPIO IoTIoSetFunc(IOT_IO_NAME_14, IOT_IO_FUNC_14_PWM5_OUT); //Set the IO port output direction: output IoTGpioSetDir(IOT_IO_NAME_14, IOT_GPIO_DIR_OUT); // Initialize the PWM function IoTPwmInit(IOT_PWM_NAME_5); //Continuously output pwm square wave while (1) { for (int i = 0; i < 20; i++) { IoTPwmStart(IOT_PWM_NAME_5, i, 50); usleep(0.05 * 1000 * 1000 ); } for (int i = 20; i > 0; i--) { IoTPwmStart(IOT_PWM_NAME_5, i, 50); usleep(0.05 * 1000 * 1000); } }}APP_FEATURE_INIT(start);The implementation effect is to let the steering wheel Summary of forward and reverse rotation of the machine. Although I did not fully achieve my goal in the end, I still received a lot of goods, such as how to participate in Lichuang training camp, the use of Linux, sw modeling appendix (used materials) robot dog training Operation submission form (Lichuang & Chuanzhi) Hongmeng development materials (other materials are also available)
参考设计图片
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