Difference between revisions of "Blog 17"
From BitWizard WIKI
(→'electric wheels' version) |
(→'Electric wheels' version) |
||
Line 81: | Line 81: | ||
#31 B forwards | #31 B forwards | ||
#32 B stop | #32 B stop | ||
+ | |||
+ | Address="bw_tool -I -D /dev/i2c-1 -a 90" | ||
+ | Speed="80" | ||
+ | Speed2="40" | ||
while true; do | while true; do | ||
Line 87: | Line 91: | ||
if [ $BUTTON = "20" ]; then | if [ $BUTTON = "20" ]; then | ||
#Car going forwards | #Car going forwards | ||
− | + | $Address -W 21:$Speed:b | |
− | + | $Address -W 31:$Speed:b | |
fi | fi | ||
if [ $BUTTON = "10" ]; then | if [ $BUTTON = "10" ]; then | ||
#Car going backwards | #Car going backwards | ||
− | + | $Address -W 20:$Speed:b | |
− | + | $Address -W 30:$Speed:b | |
− | + | ||
− | |||
if [ $BUTTON = "08" ]; then | if [ $BUTTON = "08" ]; then | ||
#Car going left | #Car going left | ||
− | + | $Address -W 21:$Speed2:b | |
− | + | $Address -W 31:$Speed:b | |
fi | fi | ||
if [ $BUTTON = "04" ]; then | if [ $BUTTON = "04" ]; then | ||
#Car going right | #Car going right | ||
− | + | $Address -W 21:$Speed:b | |
− | + | $Address -W 31:$Speed2:b | |
− | fi | + | fi |
if [ $BUTTON = "02" ]; then | if [ $BUTTON = "02" ]; then | ||
− | #Car | + | #Car Stop AGAIN |
− | + | $Address -W 22:$Speed:b | |
− | + | $Address -W 32:$Speed:b | |
fi | fi | ||
Line 119: | Line 122: | ||
fi | fi | ||
− | + | sleep 1 | |
done | done | ||
Line 132: | Line 135: | ||
I think the code pretty much explains itself with the extra info I have given it. I used the push buttons as example of how it could be used. | I think the code pretty much explains itself with the extra info I have given it. I used the push buttons as example of how it could be used. | ||
− | All the protocols can | + | All the protocols can been found in [[Motor protocol]]. |
Revision as of 14:17, 16 November 2015
Contents
2 Wheel controlled car
I made this on the Raspbery Pi for the stepper motor and for 'electric wheels'.
Stepper motor version
Hardware I used on my Raspberry Pi:
- One RPi_UI board | (User Interface)
- Two 7FETs | (7FETs)
- Two Jumper cables M-F
- Two IDC cable 6 pin
- Two 28BYJ-48 Stepper Motor
Programming:
- Bash
3D printed wheels code
I made the wheels in OpenSCAD and let them be printed out on a 3d printer. The OpenSCAD code:
$fs=0.2; $fa=2; module stepperas(d=5, l=25, t=3) { difference() { cylinder (r=d/2 , h=l); translate ([t/2, -5, -1]) cube([10, 20, l+2]); translate ([-t/2-10, -5, -1]) cube([10, 20, l+2]); } } difference() { union () { difference () { cylinder (r=60/2 ,h=12); translate ([0, 0, 1.5]) cylinder (r=50/2, h=20); } cylinder (r=6,h=6); } translate ([0, 0, -1]) stepperas(5.2, 20, 3.2); }
The full car just went to be a carton box, with everything attached to it with tieraps.
'Electric wheels' version
Hardware I used on my Raspberry Pi:
- One RPi_UI board | (User Interface)
- One Motor | (Motor)
- One Cable, 4 Pin (I2C), F-F
- Two electric wheels
- Soft cables ( To connect to the motor and the wheels )
- One dongle
I also used some tieraps to attach the wheels on a board.
Programming:
- Bash
Script:
#!/bin/bash #Wheel A left forward #Wheel B Right forward # X is forwards - Y is backwards #Wheels at front #20 A backwards #21 A forwards #22 A stop #30 B backwards #31 B forwards #32 B stop Address="bw_tool -I -D /dev/i2c-1 -a 90" Speed="80" Speed2="40" while true; do BUTTON=`bw_tool -I -D /dev/i2c-1 -a 94 -R 30:b` if [ $BUTTON = "20" ]; then #Car going forwards $Address -W 21:$Speed:b $Address -W 31:$Speed:b fi if [ $BUTTON = "10" ]; then #Car going backwards $Address -W 20:$Speed:b $Address -W 30:$Speed:b if [ $BUTTON = "08" ]; then #Car going left $Address -W 21:$Speed2:b $Address -W 31:$Speed:b fi if [ $BUTTON = "04" ]; then #Car going right $Address -W 21:$Speed:b $Address -W 31:$Speed2:b fi if [ $BUTTON = "02" ]; then #Car Stop AGAIN $Address -W 22:$Speed:b $Address -W 32:$Speed:b fi if [ $BUTTON = "01" ]; then exit fi sleep 1 done
Other movements:
#Spinning right bw_tool -I -D /dev/i2c-1 -a 90 -W 20:80:b bw_tool -I -D /dev/i2c-1 -a 90 -W 31:80:b #Spinning left bw_tool -I -D /dev/i2c-1 -a 90 -W 21:80:b bw_tool -I -D /dev/i2c-1 -a 90 -W 30:80:b
I think the code pretty much explains itself with the extra info I have given it. I used the push buttons as example of how it could be used. All the protocols can been found in Motor protocol.