Использовали наборы Fischertechnik XL Bulldozer (и два мотора XM), Arduino, Spektrum 2.4.
Вот что получилось:
Для управления использовались
Arduino Uno R3 + Arduino Motor Shield. (китайский аналог http://www.ladyada.net/make/mshield/ батарейки сажал сразу)
Все скетчи с подробным описанием нашлись на SparkFun Electronics.
https://www.sparkfun.com/tutorials/348
Код: Выделить всё
/*
RC PulseIn Joystick Servo Control
By: Nick Poole
SparkFun Electronics
Date: 5
License: CC-BY SA 3.0 - Creative commons share-alike 3.0
use this code however you'd like, just keep this license and
attribute. Let me know if you make hugely, awesome, great changes.
*/
int ch1; // Here's where we'll keep our channel values
int ch2;
int move; // Forward/Back speed
int turn; // Turning Factor
int pwm_a = 3; //PWM control for motor outputs
int pwm_b = 11; //PWM control for motor outputs
int dir_a = 12; //direction control for motor outputs
int dir_b = 13; //direction control for motor outputs
void setup() {
pinMode(5, INPUT); // Set our input pins as such
pinMode(6, INPUT);
pinMode(pwm_a, OUTPUT); //Set control pins to be outputs
pinMode(pwm_b, OUTPUT);
pinMode(dir_a, OUTPUT);
pinMode(dir_b, OUTPUT);
analogWrite(pwm_a, 0);
analogWrite(pwm_b, 0);
}
void loop() {
ch1 = pulseIn(5, HIGH, 25000); // Read the pulse width of
ch2 = pulseIn(6, HIGH, 25000); // each channel
move = map(ch2, 1100,1900, -500, 500); //center over zero
move = constrain(move, -255, 255); //only pass values whose absolutes are
//valid pwm values
/*What we're doing here is determining whether we want to move
forward or backward*/
if(move>0){digitalWrite(dir_a, 1);digitalWrite(dir_b, 1);};
if(move<0){digitalWrite(dir_a, 0);digitalWrite(dir_b, 0); move=abs(move);};
/*Here we're determining whether a left or a right turn is being
executed*/
turn = map(ch1,1100,1900,-500,500);
turn = constrain(turn, -255, 255);
/*This is where we do some mixing, by subtracting our "turn"
variable from the appropriate motor's speed we can execute
a turn in either direction*/
if(turn>0){analogWrite(pwm_b, move-turn); analogWrite(pwm_a, move);};
if(turn<0){turn=abs(turn); analogWrite(pwm_a, move-turn); analogWrite(pwm_b, move);};
}
Вот фото соединений проводов (питание и два канала)
В дальнейших планах - управление отвалом бульдозера и добавление звука.
