Manufacturing of oblique triangle crawler chassis-EEWORLD

Collect

1. Description of sports functions

The inclined triangular crawler chassis can realize basic driving functions such as forward, backward, on-site turning, and large-radius turning through the differential movement of the crawlers on both sides. In addition, the inclined crawler can also make it have a good obstacle crossing effect.

Forward and Backward

Turn on the spot

Large turning radius

2. Structure description

The prototype consists of two oblique triangular track modules, which are axially symmetrically distributed on the frame.

3. Movement function realization

3.1

In this example, the following hardware is used for your reference:

Basra main control board (compatible with Uno), Bigfish2.1 expansion board, 7.4V

3.2 Circuit Connection

Connect the DC to the two DC motor interfaces. The pin numbers of the two DC motor interfaces are (D5, D6) and (D9, D10) respectively, and fix the main control board and battery to the car body.

3.3 Programming

Environment: Arduino 1.8.19

Code for the forward function

/*------------------------------------------------------------------------------------
Copyright 2022 Robotme(Beijing) chnology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detl or copy at
https://opensource.org/licenses/MIT
by Robotway 2022-5-31 https://www.robotway.com/
------------------------------
Experimental function:
Realize the forward movement of the oblique triangle crawler chassis.
-----------------------------------------------------
Experimental wiring:
Left wheel connection: D9, D10
| |
.-----------------------------------.
| |
| |-------.
| |【Car head】|
| |-------*
| |
*-----------------------------------*
| |
Right wheel connection: D5, D6
----------------------------------------------------------------------------------------------------*/
voidForward(); // Forward
//Program initialization part: Set the motor pin to output mode
voidsetup() {
nMode( 5 , OUTPUT); //Set pin 5 to output mode
pinMode( 6 , OUTPUT); //Set pin 6 to output mode
pinMode( 9 , OUTPUT); //Set pin 9 to output mode
pinMode( 10 , OUTPUT); //Set pin 10 to output mode
}
//Main program part: car moves forward
voidloop() {
Forward();
}
//Encapsulate the car forward action subroutine
voidForward() {
digitalWrite( 5 , LOW ); //Right wheel moves forward
digitalWrite( 6 , HIGH );
digitalWrite( 9 , LOW ); //Left wheel moves forward
digitalWrite( 10 , HIGH );
}

Code for the back function

/*------------------------------------------------------------------------------------
Copyright 2022 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by Robotway2022-5-31 https://www.robotway.com/
--------------------------
Experimental function:
Realize the backward movement of the oblique triangle crawler chassis.
----------------------------------------------------
Experimental wiring:
Left wheel connection: D9, D10
| |
.-----------------------------------.
| |
| |-------.
| |【Car head】|
| |-------*
| |
*-----------------------------------*
| |
Right wheel connection: D5, D6
----------------------------------------------------------------------------------------------------*/
voidBackward();// Backward
//Program initialization part: Set the motor pin to output mode
voidsetup() {
pinMode( 5 , OUTPUT); //Set pin 5 to output mode
pinMode( 6 , OUTPUT); //Set pin 6 to output mode
pinMode( 9 , OUTPUT); //Set pin 9 to output mode
pinMode( 10 , OUTPUT); //Set pin 10 to output mode
}
//Main program part: car moves backward
voidloop(){
Backward();
}
//Encapsulate the car backward action subroutine
voidBackward() {
digitalWrite( 5 , HIGH ); //Right wheel moves backward
digitalWrite( 6 , LOW );
digitalWrite( 9 , HIGH ); //Left wheel moves backward
digitalWrite( 10 , LOW);
}

Code for the on-the-spot turn function

/*------------------------------------------------------------------------------------
Copyright: Copyright 2022 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by Robotway 2022-5-31 https://www.robotway.com/
------------------------------------
Experimental function:
Realize the rotation of the oblique triangle crawler chassis in situ (differential mode).
The phenomenon of this experiment is that the four-wheel four-wheel drive chassis turns left in situ.
----------------------------------------------------
Experimental wiring:
Left wheel connection: D9, D10
| |
.-----------------------------------.
| |
| |-------.
| |【Car head】|
| |-------*
| |
*-----------------------------------*
| |
Right wheel connection: D5, D6
----------------------------------------------------------------------------------------------------*/
vourn_Left(); // Turn in situ (this example is a left turn in situ)
//Program initialization part: Set the motor pin to output mode
voidsetup() {
pinMode( 5 , OUTPUT); //Set pin 5 to output mode
pinMode( 6 , OUTPUT); //Set pin 6 to output mode
pinMode( 9 , OUTPUT); //Set pin 9 to output mode
pinMode( 10 , OUTPUT);//Set pin 10 to output mode
}
//Main program part: Car differential rotation [this example is the car turning left]
voidloop() {
turn_Left();
}
//Encapsulate the car rotation action subroutine (this example is turning left)
voidturn_Left(){
digitalWrite( 5 , LOW ); //Right wheel forward
digitalWrite( 6 , HIGH );
digitalWrite( 9 , HIGH ); //Left wheel backward
digitalWrite( 10 , LOW);
}

Code for large radius turn function

/*------------------------------------------------------------------------------------
Copyright 2022 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机谱2022-5-31 https://www.robotway.com/
--------------------------------------------------------
Experimental function:
Realize large radius steering of oblique triangle track chassis (the principle is that the wheels of the car move in the same direction but at different speeds)
--------------------------------------------------------
Experimental wiring:
Left wheel connection: D9, D10
| |
.-----------------------------------.
| |
| |-------.
| |【Car head】|
| |-------*
| |
*-----------------------------------*
| |
Right wheel connection: D5, D6
----------------------------------------------------------------------------------------------------*/
voidbig_Turn();// Large radius steering
//Program initialization part: Set the motor pin to output mode
voidsetup() {
pinMode( 5 , OUTPUT); //Set pin 5 to output mode
pinMode( 6 , OUTPUT); //Set pin 6 to output mode
pinMode( 9 , OUTPUT); //Set pin 9 to output mode
pinMode( 10 , OUTPUT); //Set pin 10 to output mode
}
//Main program part: the car moves in an arc path
voidloop() {
big_Turn();
}
//Encapsulate the car's large radius (arc) action subroutine (same direction but different speeds)
voidbig_Turn() {
Write( 5 , 0 ); //The right wheel moves forward at a speed of 255
analogWrite( 6 , 255);
analogWrite( 9 , 0 ); //The left wheel moves forward at a speed of 150
analogWrite( 10 , 150 );
}