Mekongctu_0001_lnnhan33 Kinh Nghiem Lam Robocon

8/14/2019 Mekongctu_0001_lnnhan33 Kinh Nghiem Lam Robocon

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KINH NGHIM LM ROBOCON

BI VIT 1C l v c bn th ai cng bit l lm robot tham gia cuc thi Robocon th cng

phi c s phn cng lao ng mt cch hp l trong 3 lnh vc: mch in t, c kh,lp trnh. Mi lnh vc c nhng c th ring, cn nhng kin thc rt khc nhau.Trong khi sinh vin hin nay c o to theo cc chuyn ngnh, v hc v int th thng l khng bit nhiu v c kh, hc c kh th li khng bit v lp trnh.Vy yu cu t ra vi mi i nu mun ginh chin thng l phi c c s kthp. Cc thnh vin trong i nn l nhng ngi c am hiu trong cc lnh vc khcnhau m quan trng nht l c kh v in t, cn lp trnh th ch cn mt ngi khv tin hc l c th hc c trong mt thi gian khong 2, 3 thng. y l iu kinu tin c th ginh chin thng. Nu khng th ch gi l lm c thi chkhng th lm tt v ch. Ti xin ly v d trong nm 2004. HBKHN ban uc mt phong tro rt mnh, rt nhiu i ang k tham d nhng a s li l nhngngi cng lp trong 1 i v vy mt tt yu l mi i ch lm tt c mt phn ckh hoc mch in. Ch c i BKHTSI ngay t u c nh gi l kh quan nhtvi s gp mt ca Sn-lp trnh + mch v Thanh - c kh. Hai ngi u l nhngngi c rt nhiu kinh nghim t trc. Vy iu u tin phi xem xt l vn la chn thnh vin.

V lp trnh:V lp trnh th khng c nhiu phc tp m ch cn chn ngn ng cho ph hp,

thng l Asembly v turbo C: Asembly th lp trnh gn vi ngn ng my nn dunglng nh hn nhiu so vi b nh ca vi iu khin 89c51.

Cc bn c th lp trnh thoi mi cng ch n 1 K b nh, trong khi b nh ca viiu khin 89c51 l 4K).

- Ngn ng C th l ngn ng lp trnh bc cao hn nn lp trnh d hn nhng li tn

b nh hn. Cc bn nn dng chng trnh Reads51 (download tiwww.rigelcorp.com). Chng trnh ny h tr c Assembly v C, n li c kh nnggi lp cc cng vo/ra ca h IC 89c51 , nn rt thun tin cho vic lp trnh mkhng cn mch in. Nn dng cm bin m vch ring, cm bin bm vch ring vic lp trnh c r rng v kh b ln.

V c kh:

V c kh th tt nht cc bn hy hc theo cch lm ca cc i i trc, xem cchh gn ng c vo xe, cc trc quay... Nu cc bn khng c iu kin xem trc tipca cc i i trc th ti xin c 1 s kin th ny:

Khi bt cc thanh nhm khng nn dng ke m ca 4 gc ca thanh nhm ri b ra bt vo nhau. Khng dng vt m dng inh tn. gn cht bnh vo ng cnn dng vt ch (loi ny c th thu cc ca hng c kh lm h - dc ng La

Thnh - H Ni).

- Gn ng c vo robot khng nn bng cch ch buc ng c v khi ti nng s lmnghing bnh dn n xe di chuyn khng chun. y c mt vt liu rt c bit l cc cc nha (mua Hng Bng hoc ch Tri - H Ni). Ta em nha i cathnh hnh hp v khoan l bt vo khung xe, ng thi khoan l to cho vngbi vo, xuyn trc bnh xe qua 2 b vng bi ri mi dng vt ch gn vo trc ng


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c nh vy th ng c khng h phi chu lc n no m ch c bnh xe t ln 2 vngbi + khi nha.

- Nha trn ta cn c th lm mt b phn rt quan trng l cc l cun. Ta emi tin thnh hnh tr c vnh ngoi ging nh li ch v khoan l trc va bngtrc ng c, dng vt ch hoc n gin l que st gn cht vo trc ng c,

buc dy c nh vo l cun. Nh vy khi ng c quay ta s cun dy ko vthay lm chuyn ng cc b phn.

V mch in:

* Thit k mch:

- Cc mnh c bn dng cho robot cc bn c th tm trong sch hoc trn mng vvy ti khng trnh by k m ti ch khuyn hy chia ra thnh 3 module ring l:

+ Mch ca vi iu khin.+ Mch ca sensor (cm bin nhn bit vch trng)

+ Mch ca ng c.

C mt hin tng rt hay gp l khi xe chy c mt lc th vi iu khin btreo. L do l c cc xung mnh nh ngc v ngun nui ca vi iu khin lm chongun nui khng cn n nh 5V, dn n b treo. Cch x l trit hin tngny c nhiu bc:

+ Trc ht c gi nguyn mch ca bn v b sung thm mt h thng cc t (chcn t loi 1 03 l ), cc t ny bn t chn trc tt c cc ngun nui, songsong vi cc cng tc hnh trnh, u ra ca mch sensor, u vo ca cng tchnh trnh... ni chung l bt k im no thng xuyn xy ra nhng thay i tbin v mc in p.

+ Th na l nn dng mch ng c theo kiu cu H, s dng Transistor trng,tuyt i trnh dng cc R le trong mch.

+ S dng b cch ly, thit k mch lm sao phn mch lc (ngun nui ng c,Transistor ng m ng c, cc tr lin quan) v phn mch iu khin (cc tr, ccb o, b logic... linh kin ni trc tip vi vi iu khin ) phi tch bit thnh 2 khu,ch ni vi nhau qua b cch ly.

m bo khng c hin tng c 2 Transistor thng hng cng m dn n ni ttmch th phi s dng IC logic (v d 74HCOO: thc ra l 4 NAND bn tm cch t hp trong 4 u ra ca n c 2 cp lun khng cng mt mc logic).

Trong mch vi iu khin ch l phi dy dn t thch anh n chn ca vi iu

khin l ngn nht. Tc l xp thch anh cng gn chn 1 9,20 ca vi iu khin thcng tt.

- rng dy ca phn iu khin nn nh (khong 20 i vi n v inchs) vchy trn n ton l cc tn hiu, cn phn mch lc phi rng (khong 70-90inchs) v n chu dng ln.

- Sau cng ca phn thit k l mt vn nh nhng khng km phn quan trng l nn chia ton b mch ca ta ra thnh cc module ring hay thit k cho tt c


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vo mt bo mch.

+ Nu cc bn khng t lm mch in cc th nn chia thnh cc module ring v sthun li trong vic i t mch in, v vi mi con robot ta li cn s lng ccmodule khc nhau (v d mi robot thng l 1 bo vi iu khin, 1 bo sensor, nhngc con ch cn 3 bo ng c trong khi con phc tp cn ti 6 - 7 bo ng c). Tuy vy,

nhc im l gia cc bo ta phi ni bng dy v gic cm nn c kh nng phtsinh nhiu v ln ln cc dy.

+ Nu cc bn c th t lm mch in th nn gp chung vo mt bo s khc phcc nhiu v nhiu dy cm. Nhng s c kh khn l vic i dy s rt kh, mnhiu khi buc phi cu dy hoc dng loi mch in 2 lp.

Lm mch in:

Nu ai mi bt u lm robot th thng tp trung vo vic dng bo cm th mchri khi thy tt ri s mang i thu th lm mch in. Tuy nhin, cc bn s thy sbt tin ca n, khng ch ng, ch lu, v t nn ngi thay i thng phi tnhiu th mi m... v c s kh chu khi gp phi ng th no kh tnh. Ti khuyncc bn nn

tm hiu ngay cch t lm mch in v n khc phc c tt c cc nhc im trnm li r hn rt nhiu. Qua tham kho nhiu cch lm th ti xin gii thiu mt cchm ti thy l d, r v tin li nht ch 5.OOO cho 1 dm2:

- Bc 1: Thit k bng Protel, Orcad ta s c c kch thc ca cc chn linh kinsau em in (cch ny nu khng c my in nh th kh v t ca hng in no cProtel v Orcad). Cch khc cho ngi cha tho dng Protel, Orcad th tm cch xutsang rle Autocad, Corel Draw chnh sa ng di dy trc quan nh mnh ang vsau cng em in. Nu l cng khng tho c 2 chng trnh trn th dng cchchp nh mn hnh ri dng Paint chnh sa v ch yu l ta cn khong cch cc

chn linh kin. Hai cch sau th vic in d hn v n l nhng nh dng file quenthuc.

- Bc 2: Vic in ra th vn dng my in bnh thng nhng vn c bit quantrng l dng giy loi g.

Quan tham kho cch lm ca nhiu ni, ti lm theo v thy rng cch r nht ldng giy th cng cao cp Hng H ( loi 2000 - 2500 c 1 chc t A4). Ta s inln mt c mu. Kt hp vi vic dng Paint hay Word, Autocad ta c th sp xpnhiu bn v vo mt trang in tn dng ti a mt ln in.Bc 3: Mua Fp ng v, t p mt c mu vo mt ng ri dng bn l i 4 cnhtrc ri i vo gia n khi thy mc in thm ra sau th c (c mt s ngi cngi nh vy nhng khng thy mc in thm ra sau m vn c v cng khng cn

thit phi bn l ch nng nht).Bc 4: Cho tm ng va i xong vo nc l, dng bn chi hay gi lau lmsch phn khng dnh mc in.

- Bc 5: Cho tm ng vo dung dch n mn. C th dng dung dch Fecl3 Cn tidng dung dch vi t l sau:

HCL 35% = 1 phn - H2O2 = 1 phn - H2O = 5 phn (ch khi pha s c khi bc ln


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mi kh chu v dng kp thao tc v c axt). Ch sau vi pht l c.

Bc 6: Dng giy gip loi 1000 hoc gi lau nh ht mc in, ta s c c ktqu.

Bc 7: Cng nn ch n vn tm, ph cho mch in c bn p:

+ Th nht: Mua mt l sn bng Ai 0 gi 14.000 xt ln b mt sau khi khoan vnh giy rp. Sau dng Aceton lau nhng l hn. Ai0 c bng cao, khngdn in, chu c nhit khong 180 - 2000C. m bo mch rt p.

+ Th hai: Mua 1 chai Aceton (16.000/1) sau chonha thng vo, ch ch lykhong 5cc cho 1000G nha thng bn s c mt dung dch dng keo c th bo vmch rt tt hn na khi hn ch s khng b loang, mch s rt p. tm hiu chitit hn cc bn c th ln mng tham kho ti a ch:http://www.ttvnol.com/dtvy425748.ttvn

Khoan l:

ng nhin l khng nn dng cc loi khoan to m tm mua min Bc khng c,ch trong Nam) hoc t ch bng cch mua m t 10 nghn ch ri gn mi khoan 1ly vo (Hnh km theo).

(Bi ny ca tc gi Quang Hng trn TCTDHNN)
http://www.ttvnol.com/dtvy425748.ttvnhttp://www.ttvnol.com/dtvy425748.ttvn


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CCH B TR SENSOR

1. Dng 6 sensor, hoc 8 sensor4 con lp pha trn dng bm vch2 con lp di t m ng t v quay (2 bnh)

0 00 0

0

2. Sensor line thi 4 hay 6 hay 8 chi giai quyet duoc do lechnhieu hon chu khong tang duoc toc do hoac mn khi d,khong cch ti thiu gia cc sensor l 1,8 cm v vy ti athm mt cch b tr na:7 sensor line v2 sensor m v dng trc bnh pht ng khong 5cm7sensor line b tr thnh 2 hng 3 trc v 4 sau , trn mt hngcc sensor cch nhau 2 cm, v 2 hng cch nhau 3 cm .


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BI VIT 2

1.Tm hiu vic lp trnh cho vi iu khin (thng dng nht hin nay l AT89***).Cth lp trnh bng Assembly hoc C

2.Tm hiu cch lm mch in (l nhit hoc in li) c th test mch. Cng c thdng panel chn cm test,khi mch chy ngon c th em i t

3.Tm hiu mch cu H (H-bridge) dng MOSFET iu khin ng c 1 chiu.Ch n hin tng nhiu trong mch

4.Tm hiu v sensor hng ngoi (gm 1 con pht v mt con thu) d ng.

5.Tm hiu v cc kt cu c kh thit k cc h thng truyn ng,cc chi tit...

6.Tuy nhin iu quan trng nht l bn phi c tm huyt v tin bc u t chon !

__________________

1) Vi iu khin, loi no cng nh nhau, tham kho ti:

http://picvietnam.com/http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=15http://www.dientuvietnam.net/viewforum.php?f=41

y l mt vi a ch cc bn tham kho

2) Lm mch in, v orcad:http://picvietnam.com/showthread.php?t=54http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=11

3) Mch cu H:

Mch ny dng iu khin ng c 1 chiu. Khi c A, B u mc cao th Q1v Q2 dn bo ha do cc B ca Q4 v Q6 c ni t. Q3, Q5 kha, Q4, Q6 dn.in p 2 cc ng c bng nhau nn ng c ng yn. Tng t, khi A, B u mc thp th ng c cng dng.

Khi A mc cao, B mc thp, Q4, Q5 dn, ng c quay.

Khi A mc thp, B mc cao, Q3, Q6 dn, ng c quay theo chiu ngcli.

Cc diot bo v cc Transistor khi qu p khi o chiu ng c t ngt.
http://picvietnam.com/http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=15http://www.dientuvietnam.net/viewforum.php?f=41http://picvietnam.com/showthread.php?t=54http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=11http://picvietnam.com/http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=15http://www.dientuvietnam.net/viewforum.php?f=41http://picvietnam.com/showthread.php?t=54http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=11


8/25

Tuy nhin, ti nu ra vn ch yu ca thi robocon l g, khong phi theo cch bnvit th ny. Nhng ci c bn c ri, l l thuyt, vn thc t l g?

1) La chn ng c?Xe c no, khi lng, kch thc, lm sao c lng ng c c sc khng? Lmmt ci xe bn bnh i, lm mt ci trc, cha ch t ng c, b cc cc nng lnkhung xe, em ra mua ng c, th th ti ch lun. Gn ng c vo, xit li, cmin chy th, b thm vt nng cho ging vi d tnh ca mnh... Xem n chy lbit lin

2) Chng nhiu sensor?Chuyn nh, c trm ngi lm ri

3) Xy dng chin thut tng c bn, phi bt u t hai ch fairplay... ng em ci khn vt ca mnh iu vi ngi ta. Cng c t tng fairplay, cng d chin thng. FXR thng bng

cch chi rt fairplay (ngay t trong t tng). H lm ra con cn con cn ng, chkhng c tnh cn con robot chnh ca i phng.

Bo dn, sng to.. dm ngh dm lm... ng qu ham chin thng, hy lun nhrng, l do bn n vi cuc thi l hc hi, ng bao gi ri b l do ny.

4) Hc hing bao gi nghe ai v tng v chin thut hay bt c th g trong cuc thi, biv 99,5% trong s h u tht bi.


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Ch c 1 chin thng trong tng s khong 200 i thi.Khng trao i bt k mt tng no l mt iu ngu ngc, nhng ni qu nhiu thdi dt. Hy trao i nhng k thut c bn nh3 ... : My nm trc dng cu H iu khin ng c l thng dng, Nhng nm nay thy dng 1 Tran + 1 Role lthng dng ( n gin l r tin hn v t hng hn ). Cu H trong Robocon c v lithi , ch cn t i dng.

Nm nay nhng k thut in t chung v Robocon gn nh ph cp, hu ht cc iu thc hin c , l mt iu tin b vt bc tuy nm nay khng c i noth hin k thut in t ni bt nh FXR, hay PoL nm ngoi nhng nhn chung mcnn nng ln ng k.

Khng bit nm sau s pht trin n u. Hy vng nm sau s thy c nhng kthut cao hn, p mt hn.tri !

Kinh nghim nm va ri tui khuyn cc bc v mchcng sut: 1. iu khin ng c no th khng bit ch l ng c chnh(2 ng c dichuyn) th khng bao gi dng rle rt n gin v chng ta phi s dng pwm mlm sao m dng rle bm xung c,

2. Cc ng c khc nn dng rle iu khin cho n gin v chc n nhngnh nn mc thm t chng tia la in-->gy nhiu

3. Khgn nn dng cc ic iu khin chiu ng c v dng nh tn km na4. Dng mch cu H i m , dng my con mosfet cho n chc bo m hi b ok

m r na ch(tui ni r l nhng con mua li nha my con ny cn tt hnmy con mi khng tin lm th xem).hm trc tui cho robot no chy m u votng vi mch cng sut hi' chng h g mt ri

4. Mt b kp khng bit c ai bit khng l chng nhiu do cc ng c gy rath ta ch cn gng thm mi ng c mt con ferit th l xong

5. Ni tm li ng cho rng cuc thi robocon l chn th hin cng ngh cino n gin chy n ta lm th th n khng h lc vt v d sa .in hnh cc bc

c thy i no iu khin con bng tay bng hng ngoi khng.khng phi khnglm c nhng n khng n nh nh dy v c th b nhiu. dy cng tt ch sao.Cui cng chc cc bc thnh cng!!!


10/25

GC K THUT CA SVBK HN

Bi 1 : HNG DN S DNG P89V51RD2 CA

PHILIPS Trong 3 nm qua Philips ti tr mt s lng ng k MCU chocc i thi Robocon pha Nam thng qua B mn iu khin T ng,Khoa in - in t, Trng i hc Bch Khoa Tp.HCM. y l MCUPhilips c tnh n nh cao v c nhiu tnh nng ph hp vi cuc thiRobocon. gip cc bn ln u lm quen vi MCU P89V51RD2 vs dng hiu qu nhng tnh nng cho vic iu khin Robot.Chng tis c cc bi vit v quy trnh thit k mt Robot t ng s dng MCUP89V51RD2. Rt mong s gp ca cc bn.

Mch np:Mch np dng MAX232 truyn d liu theo kiu ni tip, c th

np trc tip chng trnh t my tnh xung MCU thng qua cngCOM.

s dng IC c lu v mch iu khin thit k gn, chngta nn lm mch np ngoi.Chng ti gi km cc file Datasheets, FlashMagic,chng trnh dch. S mch mch np ca MCU P89V51RD2 nhsau

'
http://data/P89x51.ziphttp://data/FMagic.ziphttp://data/FMagic.ziphttp://data/ctdich.ziphttp://data/P89x51.ziphttp://data/FMagic.ziphttp://data/FMagic.ziphttp://data/ctdich.zip


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Hnh minh ha

Chng trnh np:

Dng Flash Magic (phin bn thng 10 nm 2004)


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Bi 2: K THUT IU XUNG PWMMCU P89V51RD2 C 5 knh iu xung (PWM) t P1.3 - P1.7. S dng rt n

gin v linh hot cho vic iu xung. Nu mch cng sut c thit k dng mch

cu H th ta iu khin c 2 ng c. Tuy nhin ta c th iu xung c cho 5ng c nu mch cng sut c thit k bao gm 1 FET v 1 Rle.Trong bi nychng ti ly 1 v d l chng trnh iu khin vn tc ng c tng dn v gimdn . Cc iu kin c khai bo u chng trnh l bt buc, nn c trcDatasheets hiu r hn. Chc cc bn thnh cng.

V d :

$mod51fx ;include : nh ngha cc bin thanh ghi(CCAP0H,CCAP1H,...);================ DEFINE BIT =================;-------- MOTORMOTOR1 DATA CCAP0H ; P1.3

MOTOR2 DATA CCAP1H ; P1.4MOTOR3 DATA CCAP2H ; P1.5MOTOR4 DATA CCAP3H ; P1.6MOTOR5 DATA CCAP4H ; P1.7

;-------- STARTBIT_START BIT P2.0 ; Nt nhn start

;-------- GI TR IU XUNGPWM_COUNT BIT 50H ; 0 - 255

;=================== MAIN ====================ORG 0000HMAIN; Cho php iu xung 5 knh P1.3 - P1.7

MOV CMOD,#0 ;Ch 6 chu k xung nhp = 1/2 chu k my SETB CR ;Cho php PCA (programing counter array) hotng MOV CCAPM0,#01000010B ; P1.3 PCA hot ng ch PWM 8bits MOV CCAPM1,#01000010B ; P1.4

MOV CCAPM2,#01000010B ; P1.5 MOV CCAPM3,#01000010B ; P1.6 MOV CCAPM4,#01000010B ; P1.7

; * Chng trnh iu khin vn tc ng c; t 0 - max v t max - 0 trn knh P1.3; * Vn tc ng c t 0 - max ng vi; PWM_COUNT t 0 - 255 v ngc li MOV PWM_COUNT,#0 ; ng c dng JB BIT_START,$ ; Cho php ng c chy

RUN_UP: ; 0 max INC PWM_COUNT

MOV MOTOR1,PWM_COUNT


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LCALL DELAY200MSMOV A, PWM_COUNT

CJNE A,#255,RUN_UPRUN_DOWN: ; max - 0

DEC PWM_COUNTMOV MOTOR1,PWM_COUNT

LCALL DELAY200MSMOV A, PWM_COUNT CJNE A,#0,RUN_DOWN

JMP RUN_UP SJMP $

;-------- DELAY 200MS

DELAY200MS: MOV R2,#2LOOP200_1: MOV R0,#200LOOP200_2:

MOV R1,#250DJNZ R1,$ DJNZ R0, LOOP200_2 DJNZ R2, LOOP200_1 RET;--------END

Mch in :Chng ti thay ng c bng led minh ho. Cc bn c th quan sat thy led

tun t sng dn v ti dn sau khi nhn nt start.


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15/25

Bi 3: CM BIN D NG:

1.CM BIN D NG:

a)Cc loi cm bin thng dng:-led hng ngoi:-quang tr:-cm bin cng nghip: gim kinh ph khi lm Robot v th hin ng tinh thn "sng to Robot", theo

kinh nghim ca cc i FXR, Basic bot, BKIT, POL ... th vi mch cm bin thngthng vn c nhy tt v n nh cao.Trong vn chng nhiu ta nn dngphn mm v che chn tt.

b)mch cm bin:

Ngun cho led pht nn dng n p ring vi VXL.V ng c s dng Robot tng cng sut nh nn VXL c th dng chung ngun vi ng c.Tuy nhin ta nns dng diode trc mch n p.FXR v Basic Bot trc y dng chung ngun vhot ng n nh.

2.MT S CCH B TR CM BIN:-B tr 2 led (BKIT_2004):(dng thm led m vch ngang)


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-B tr 4 led:

-B tr 5 led(Basic Bot_2004):

-B tr 6 led(FXR_2004):

-B tr 8 led (RLB_2005):

Vic s dng hai hay nhiu led tu thuc vo tng i nhm thun tin trong vn lp trnh d ng .Trong phng n b tr led theo 1 hng ngang th vch trngngang c xc nh khi tt c cc cm bin u tch cc (hoc an ton v chngnhiu th nn cho php sai s 1 cm bin, v d 5/6 cm bin tch cc th xem Robotang vch trng ngang).

Bi tip theo chng ti gii thiu gii thut d ng 6 led c dng trongcuc thi Robocon 2005...


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Bi 4: K THUT D NG

Trong bi ny chng ti gii thiu vi cc bn gi thut Robot d ng. iukhin Robot d ng hin nay c rt nhiu i lm c v rt n nh. Tuy nhin

gi thut ca mi i thng theo tng ca ring mnh v theo kinhnghim.Chng ti lm vic theo tinh thn sng to Robot, v vy chng ti ch ara s gii thut gp cng cc bn xy dng nn mt chng trnh hon ho.Vi mi i nn c mt bn sc cho ring mnh trn c s mt gi thut chung nnh.

Gi thut Robot d ng bng 6 led.S b tr :

Ta chia 6 cm bin thnh 13 vng:Ch : ledn cm bin n tch cc.

/ledn cm bin n khng tch cc.

+ Vng trung tm : led3+ led4

+Vng tri 1 : /led2 + led3 + /led4+Vng tri 2 : led2 + led3+Vng tri 3 : /led1 + led2 +/led3+Vng tri 4 : led1 + led2+Vng tri 5 : led1 + /led2+Vng tri 6 :bit nh tri + /led1

+Vng phi 1 : /led3 + led4 + /led5+Vng phi 2 : led4 + led5+Vng phi 3 : /led4 + led5 +/led6

+Vng phi 4 : led5 + led6+Vng phi 5 : /led5 + led6+Vng phi 6 :bit nh phi + /led6

Bit nh = 1 khi tt c cm bin lch ra khi ng line theo hng tri (bit nhphi) v theo hng phi (bit nh tri). V d Bit nh phi c set trong trng hp/5led + led6 v c clr khi led4 +led5

ng vi mi vng ta xy dng 1 hm vn tc tng ng c th iu khinvn tc linh hot. Phn iu xung chng ti cp Bi 2.


18/25

V d :Vng trung tm : MOV V_bnhphi,#255

MOV V_bnhtri,#255Vng phi 1: MOV V_bnhphi,#200

MOV V_bnhtri,#255

Ch : Chng trnh d ng t trong Timer 1. Chng trnh qut led v Timer out t trong Timer 2. Cc hot ng ca Robot xy dng thnh cc chng trnh con.

V d : cua phi, cua tri, gp qu ... 1 vch trng ngang ng vi trng hp c 4 (hoc 5 hoc 6 led tch cc tu

thuc vo mc chng nhiu m ngi lp trnh tu chn). Chng trnh c xy dng sao cho chng trnh MAIN ta ch cn gi chy

thng bao nhiu vch ng vi tc bao nhiu, cua tri, phi, gp qu,nhm ngin cho ngi s dng v linh hot khi thay i chng trnh.


19/25

Gii thut : MAIN :


20/25

Chng trnh d ng :Timer1 s qut lin tc sau mi 1ms (tu vo gi tr t), s dng khi bit TR1= 0

lc Robot hon thnh xong qung ng cn i.


21/25

Cua 90:

Khi chng trnh d ng ch s dng cm bin thnh cng. Chng ta c th kthp vi cc thit b nh encoder, la bn tng tnh n inh, chnh xc v linhhot cho Robot.Chc cc bn thnh cng !


22/25

Bi 5: GAMEPAD CHO ROBOT IU KHIN BNG TAY

Gamepad cho Robot iu khin bng tay chia lm 2 loi : iu khin t xabng hng ngoi v iu khin qua dy cp. Nu dng cc mch thu pht hng ngoi

thng thng th tnh n nh khi thi u khng cao (!), tt nht nn dng Vi x l(VXL) thu pht theo tn s ring ca mnh (nh POL chng hn). iu khin quady cp mang tnh n nh rt cao, y chng ti cp ti cch s dng gamepadqua dy cp. 1.S dng gamepad playstation ca SONY.

Kt ni trc tip vo Vi x l. Rt gn khi thit k phn cng, tuy nhinchng ta nn km theo nt Reset VXL trn gamepad tng tnh n nh. y lphng php s dng ca i FXR.Chng ti gi km filehng dn s dng gamepad playstation. 2.Ci to phn mch ca 1 gamepad bt k:

Trong mch ca cc gamepad bt k, cc nt nhn c thit k nh l cccng tc hnh trnh (tc l c 1 im chung ni mass).

+ Ct b ng mch in ni cc nt nhn vi phn iu khin cagamepad.

+ S dng cc nt nhn nh l cc cng tc hnh trnh c lp.a. Truyn ni tip :

Theo cch x l ny chng ta ch s dng cp 4 si : +5v, mass, TXD, RXD.Cch x l ny vn cha n nh tuyt i nhng s dng t Port VXL. Nn km

theo nt Reset VXL trn gamepad tng tnh n nh. y l phng php Basic Bots dng nm 2003 v 2004.b. Truyn song song :

Thc cht ta ni tt c cc nt nhn xung thng mch iu khin, khi ccntnhn ng vai tr nh l nhng cng tc hnh trnh. Phng php ny rt n nh,tuy nhin nhc im l rt tn Port VXL (mi nt nhn ng vi 1 Port).
http://data/SONY.ziphttp://data/SONY.zip


23/25

Cch khc phc nhc im trn :S dng mch dn knh 16 sang 1.

`Phng php ny gim bt c ng k s lng Port VXL, tnh n nh cao.


24/25

MUA G UFOR ROBOCONER

TP. HCMu tin CLB xin gii thiu vi cc bn mt vi a im trong thnh ph gip cc bn mua lm robot :

Ch T Uyn ( ch Phm Hu Ch ) ( ng T Uyn - gn BV Ch Ry ) : Chuyn bn bnh xe ,bnh rng , l xo , dy ai truyn , nha tm nha thi dng tin ra cc chi tit theo thitk , ...

Ch Nht To : Chuyn bn linh kin in t , in tr t , nam chm , dy in , in ... ;ngoi ra pha bn kia ch ( ng Vnh Vin mt tin v trong hm , cng mt s khu vc gn

ch ) cn chuyn bn ng c DC , AC , ng c bc , cng tc hnh trnh , hp s tr ng....

Cng ty Tng Lai ( 578 ng 3/2 - gn ch Nht To - t : 9.125.627) chuyn cung cp linhkin in t .

Ch st : (gn ch T Uyn) l ni bn c th tm thy bnh rng loi , st tm , st thi , cth t gia cng chi tit nu cn .

Cng ty TM E-design ( t : 8506738 - 0903639768 ) Chuyn cung cp mch np chng trnht my tnh vo IC ( lp trnh robot t ng ).

Ch vt liu xy dng ( ng Trnh Hoi c - P.13 - Q.5) chuyn bn nguyn liu nh ng ,nhm , st , c vt cc loi , bnh xe , rng rc ...

Ca hng st xy dng Tun Cng ( 81 Bn Chng Dng - Q.1 - ch Dn Sinh -t : 8.210664) chuyn bn st c l sn , thun tin trong vic kt cu khung vng chc cho robo ( ngnhin ng c ca bn phi c cng sut ln mt cht ! ) gi cng mm : 10.000 --> 13.000mi mt .

Ca hng Thun Pht ( 67 L Nam ( gn i din BV.Ch Ry ) - t 0903.812938 ) chuynbn Nhm thi , nhm tm , nha thi , nha tm ... cc bn gia cng chi tit .Gn c c s S in ( ng Nguyn Ch Thanh - t : 9070374 - gn i din BV.Ch Ry )chuyn tin cc chi tit c dng trn xoay t thi nguyn liu , tn bnh rng , bnh xe votrc ng c , ... ( gi hi t , bn nn tn dng cc chi tit c sn cn thit lm mi t giacng )

Ca hng nhm 234 ( ng L Thng Kit - P8 - Q.Tn Bnh gn H.BK ) v cc ca hng

nhm trn ng ny chuyn bn nhm thanh hnh dng , nhm tm cc kch thc , ... giacng khung nhm .

Ca hng Acquy 25 Trn Hng o - Q1 ( t : 8222869 ) chun bn cc loi acquy kh , ac quync , t 6V - 12V - 24V - ... , b np acquy .

Cng ty sch thit b trng hc ( 223 Nguyn Tri Phng - P9-Q5- t: 8554645 ) Chuyn bncc dng c th nghim vt l , ha hc , sinh hc ... ( gi c hi mc v l cng ty c quynca nh nc , nhng cc bn c th tham kho nhiu tng ca dng c th nghim )

Cc bn tm c nhng a im tt nh gi bi chia s vi mi ngi nh !!!


25/25

Ch H TH K (gc ng Hng Vng v ng H Th K):C bn cc loi acquy c gi tng i mm, theo ti bit th khong t 10.000 -> 20.000 / 1acquy. Tuy c nhng cht lng cng tng i tt v in th kh n nh.Nu cc bn khng tm c th c th mail cho ti: [email protected], tui s hngdn chi tit cho cc bn.Hin nay ti ang c 2 loi chip 16F877A v 18F458 cng mch np.Nu bn no mun mua

th lin h vi ti Gi m bo r hn Nht To nhiu ln .Thm ch cn r hn c PICvietnamna

QUOTE1. Chip:18F458: 100.00018F4331: 95.00016F877A: 75.00016F876A: 65.00016F88: 40.000- C mt s loi chip khc nhng chng ti khng cn nhiu hng (s lng

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Mekongctu_0001_lnnhan33 Kinh Nghiem Lam Robocon